According to a lane keep assist electronic control unit (LKAECU), a lane recognizer recognizes a driving lane in which the own vehicle is traveling. A target trajectory generator, a first adder, a feedforward steering angle calculator, a feedback steering angle calculator, a second adder, a feedforward torque calculator, a feedback torque calculator, and a third adder calculate demanded torque τtgt for controlling steering of the own vehicle so that deviation of the vehicle from the driving lane is suppressed. A road surface camber corrector detects a camber estimated angle θG which is a camber angle of a road surface of the driving lane in which the own vehicle is traveling. The road surface camber corrector detects drift of the own vehicle by calculating a yaw rate difference Δω. The road surface camber corrector corrects the demanded torque τtgt based on the camber estimated angle θG and the yaw rate difference Δω.


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    Title :

    Lane keep assist device


    Contributors:

    Publication date :

    2020-05-05


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    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 / B62D MOTOR VEHICLES , Motorfahrzeuge / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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