PROBLEM TO BE SOLVED: To execute lane-keep support control appropriately even in a low-speed travel zone.SOLUTION: A vehicular speed response adjustment part 103 inputs a target steering angle θs* and a vehicular speed Vx, sets a vehicular speed adjustment factor Kv on the basis of the vehicular speed Vx, and sets, to post-adjustment FF target torque (TFF*×Kv), a value produced by multiplying the vehicular speed adjustment factor Kv and FF target steering torque TFF*. The vehicular speed adjustment factor Kv is set at a value "0" in the case of the vehicular speed Vx being lower than a first set vehicular speed V1, or is set at a value "1" in the case of the vehicular speed Vx being higher than a second set vehicular speed V2. An addition part 104 sets, to a final target steering torque T*, a value produced by adding post-adjustment target steering torque (TFF*×Kv) and FB target steering torque TFB*.SELECTED DRAWING: Figure 3

    【課題】 車線維持支援制御を低速走行域においても良好に実施できるようにする。【解決手段】 車速対応調整部103は、目標舵角θs*と車速Vxとを入力し、車速Vxに基づいて車速調整係数Kvを設定し、この車速調整係数KvをFF目標操舵トルクTFF*に乗算した値を調整後FF目標操舵トルク(TFF*×Kv)に設定する。この車速調整係数Kvは、車速Vxが第1設定車速V1より小さい場合には値「0」に設定され、車速Vxが第2設定車速V2より高い場合には値「1」に設定される。合算部104は、調整後FF目標操舵トルク(TFF*×Kv)とFB目標操舵トルクTFB*とを合算した値を最終目標操舵トルクT*に設定する。【選択図】 図3


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    Title :

    LANE-KEEP SUPPORT APPARATUS


    Additional title:

    車線維持支援装置


    Contributors:

    Publication date :

    2017-02-16


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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