PROBLEM TO BE SOLVED: To carry out highly responsive accurate traffic lane deviation prevention control without variation by appropriately predicting the shape of a traffic lane from which deviation occurs and the deviated state of a vehicle from the traffic lane.SOLUTION: A traffic lane curvature turning target yaw rate γref_lane necessary for traveling along a traffic lane based on traffic lane information and the traveling state of an own vehicle is calculated, a deviation prevention behavior target yaw rate γref_turn for preventing deviation from the traffic lane by predicting the deviated state of the own vehicle from the traffic lane based on the traffic lane information and the traveling state of the own vehicle is calculated, traffic lane curvature turning feed forward torque Tp_ff_lane is calculated based on the γref_lane, deviation prevention behavior feed forward torque Tp_ff_turn is calculated based on the γref_turn, target yaw rate feedback torque Tp_fb is calculated based on the γref_lane and the γref_turn, and control torque Tp is calculated based on the Tp_ff_lane, the Tp_ff_turn, and the Tp_fb.SELECTED DRAWING: Figure 2

    【課題】逸脱する車線の形状、及び、車線からの車両の逸脱状態を適切に予測し、応答性に優れ、ばらつきのない精度の良い車線逸脱防止制御を行う。【解決手段】車線情報と自車両の走行状態に基づいて車線に沿って走行するのに必要な車線曲率旋回用目標ヨーレートγref_laneを算出し、車線情報と自車両の走行状態に基づいて自車両の車線からの逸脱状態を予測して車線からの逸脱を防止する逸脱防止挙動用目標ヨーレートγref_turnを算出し、γref_laneに基づき車線曲率旋回用フィードフォワードトルクTp_ff_laneを算出し、γref_turnに基づき逸脱防止挙動用フィードフォワードトルクTp_ff_turnを算出し、γref_laneとγref_turnに基づいて目標ヨーレートフィードバックトルクTp_fbを算出し、Tp_ff_lane、Tp_ff_turn、Tp_fbにより制御トルクTpを算出する。【選択図】図2


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    Title :

    TRAFFIC LANE DEVIATION PREVENTION CONTROLLER FOR VEHICLE


    Additional title:

    車両の車線逸脱防止制御装置


    Contributors:

    Publication date :

    2016-10-06


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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