According to a lane keep assist electronic control unit (LKAECU), a lane recognition section recognizes a driving lane in which the own vehicle is traveling. A target trajectory generation section generates a target trajectory in which the own vehicle travels so that deviation of the own vehicle from the driving lane is suppressed. A feedforward steering angle calculation section, a feedback steering angle calculation section, a first adder, a feedforward torque calculation section, and a feedback torque calculation section calculate a demanded torque τtgt for controlling steering of the own vehicle so that the own vehicle travels along the target trajectory. When a direction of travel of the own vehicle is a direction deviating from the driving lane and the demanded torque τtgt causes steering of the own vehicle in the direction deviating from the driving lane, an output control section sets the demanded torque τtgt to a value which does not cause steering of the own vehicle in the direction deviating from the driving lane.


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    Title :

    LANE KEEP ASSIST DEVICE


    Contributors:

    Publication date :

    2018-06-07


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / G06K Erkennen von Daten , RECOGNITION OF DATA



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