To provide a lane keep control device that is able to prevent deviation of an own vehicle from a traveling lane during override control.SOLUTION: A lane keep control device 11 comprises a first initial target steering angle calculation unit 30, a second initial target steering angle calculation unit 40 and a steering angle calculation unit 60. A first calculation unit 38 of the first initial target steering angle calculation unit 30 performs first calculation for calculating a first initial target steering angle by using a lane curvature so that a vehicle 1 travels along a lane curvature. A second calculation unit 44 of the second initial target steering angle calculation unit 40 performs second calculation for calculating a second initial target steering angle by using a yaw angle deviation so that a corresponding-lane yaw angle coincides with a target yaw angle. During execution of override control, the lane curvature and the yaw angle deviation are not corrected, but a target steering angle is made small in comparison with that used during normal lane keep control.SELECTED DRAWING: Figure 3

    【課題】オーバーライド制御の実行中に走行車線から自車両が逸脱してしまうことを防止することができる車線維持制御装置を提供する。【解決手段】車線維持制御装置11は、第1の初期目標操舵角算出部30と第2の初期目標操舵角算出部40と操舵角算出部60とを備えている。第1の初期目標操舵角算出部30の第1の演算部38は、車両1が車線曲率に沿って走行するように、車線曲率を用いて第1の初期目標操舵角を算出する第1の演算を行う。第2の初期目標操舵角算出部40の第2の演算部44は、対車線ヨー角が目標ヨー角に一致するように、ヨー角偏差を用いて第2の初期目標操舵角を算出する第2の演算を行う。オーバーライド制御の実行中には、車線曲率およびヨー角偏差を補正せずに、通常の車線維持制御の実行中に比べて、目標操舵角を小さくする。【選択図】図3


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    Title :

    LANE KEEP CONTROL DEVICE


    Additional title:

    車線維持制御装置


    Contributors:
    HAJIKA RYO (author)

    Publication date :

    2020-03-19


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / 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



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