To provide a vehicular lane keep control apparatus which can obtain stable traveling without changing the traveling from a shipment time by suppressing a hunting behavior such as meandering because steering excessively responds with the lapse of time.SOLUTION: A vehicular lane keep control apparatus sets a target route to be traveled by an own vehicle, calculates control amount for an electric power steering motor 12 on the basis of at least deviation amount from the target route, and performs control so that the own vehicle travels along the target route. The vehicular lane keep control apparatus compares response speed Vn of an actual steering angle of the own vehicle with respect to a target steering angle for traveling along the target route with set response speed V0, determines gain of a current value Icmdn+1 for driving the electric power steering motor 12 so that the response speed Vn and the set response speed V0 coincide with each other, and updates the determined gain.SELECTED DRAWING: Figure 9

    【課題】 経時的に操舵が過敏に応答することで蛇行するようなハンチング挙動を抑制して出荷時と変わらず安定した走行が得られる車両のレーンキープ制御装置の提供。【解決手段】 自車両が走行すべき目標経路を設定し、少なくとも目標経路からのずれ量を基に電動パワーステアリングモータ12に対する制御量を算出し、自車両が目標経路に沿って走行するように制御し、目標経路に沿って走行させるための目標操舵角に対する自車両の実舵角の応答速度Vnと設定応答速度V0を比較して、応答速度Vnと設定応答速度V0が一致するように電動パワーステアリングモータ12を駆動する電流値電流値Icmdn+1のゲインを決定して、決定されたゲインを更新する車両のレーンキープ制御装置。【選択図】図9


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    Title :

    VEHICULAR LANE KEEP CONTROL APPARATUS


    Additional title:

    車両のレーンキープ制御装置


    Contributors:

    Publication date :

    2021-09-02


    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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