PROBLEM TO BE SOLVED: To appropriately perform a departure prevention operation for preventing even a vehicle having the differential apparatus from departing from the driving lane.SOLUTION: A lane departure prevention apparatus 17 includes: departure preventing means 172 for controlling a braking apparatus to perform a departure prevention operation by applying yaw moment (M) to a vehicle 1, the yaw moment being generated by a difference of the braking forces between right wheels 121FR, 121RR and left wheels 121FL, 121RL; and controlling means 173 for controlling the departure preventing means so that the braking force applied to driving wheels 121RL, 121RR becomes smaller and the braking force applied to non-driving wheels 121FL, 121FR becomes larger when the departure prevention operation is performed in a situation a differential apparatus 132 limiting a differential rotation, compared to a case where the departure prevention operation is performed in a situation the differential apparatus not limiting the differential rotation.SELECTED DRAWING: Figure 1
【課題】差動装置を備える車両に対しても、走行車線からの車両の逸脱を適切に抑制するための逸脱抑制動作を適切に行う。【解決手段】車線逸脱抑制装置17は、右側車輪121FR、121RRと左側車輪121FL、121RLとの間での制動力差に起因して発生するヨーモーメント(Mtgt)を車両1に付与することで逸脱抑制動作を行うように、制動装置を制御する逸脱抑制手段172と、差動装置132が差動回転を制限している状況下で逸脱抑制動作が行われる場合には、差動装置が差動回転を制限していない状況下で前記逸脱抑制動作が行われる場合と比較して、駆動輪121RL、121RRに付与される制動力が小さくなり且つ受動輪121FL、121FRに付与される制動力が大きくなるように、逸脱抑制手段を制御する制御手段173とを備える。【選択図】図1
LANE DEPARTURE PREVENTION APPARATUS
車線逸脱抑制装置
2018-08-09
Patent
Electronic Resource
Japanese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF |