PROBLEM TO BE SOLVED: To surely prevent lane deviation without imparting an incongruity to a driver by an optimum lane deviation prevent lane locus even if a vehicle is deviated to a superelevation uphill direction, or to a superelevation downhill direction when lateral force disturbance such as superelevation acts on the vehicle.SOLUTION: An opposing lane yaw angle θyaw and a vehicle lateral position in a lane width direction xv are calculated, a fundamental lane deviation prediction time Tttlc0 at which a vehicle deviates from a lane in a current traveling state is calculated, a first offset amount x_offset1 of a lane division line corresponding to lateral disturbance is calculated, a second offset amount x_offset2 of the lane division line corresponding to a lane width is calculated, a third offset amount x_offset3 of the lane division line corresponding to a lane shape is calculated, a lane deviation prediction time Tttlc is calculated on the basis of the lane division line which is corrected by these offset amounts, a target yaw rate γt is calculated, and an electric power steering motor 12 is drive-controlled.SELECTED DRAWING: Figure 2
【課題】カント等の横力外乱が車両に作用する際に、カント上り方向への逸脱であっても、カント下り方向への逸脱であっても、最適な車線逸脱防止の車線軌跡によりドライバに違和感を与えること無く確実に車線逸脱の防止を図る。【解決手段】対車線ヨー角θyaw、車線幅方向車両横位置xvを算出し、現在の走行状態で車線から逸脱する基本車線逸脱予想時間Tttlc0を算出し、横力外乱に応じた車線区画線の第1のオフセット量x_offset1を算出し、車線幅に応じた車線区画線の第2のオフセット量x_offset2を算出し、車線形状に応じた車線区画線の第3のオフセット量x_offset3を算出し、これらオフセット量で補正した車線区画線を基に車線逸脱予想時間Tttlcを算出し、目標ヨーレートγtを算出して電動パワーステアリングモータ12を駆動制御する。【選択図】図2
LANE DEVIATION PREVENTION CONTROL DEVICE OF VEHICLE
車両の車線逸脱防止制御装置
2016-04-25
Patent
Electronic Resource
Japanese