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, a first adder, a feedforward steering angle calculation section, a feedback steering angle calculation section, a second adder, a feedforward torque calculation section, a feedback torque calculation section, and a third adder calculate demanded torque τtgt for controlling steering of the own vehicle so that deviation of the own vehicle from the driving lane is suppressed. A road surface camber correction section detects a camber estimated angle θG which is an inclination angle of a road surface of the driving lane in which the own vehicle is traveling. The road surface camber correction section detects drift of the own vehicle by calculating a yaw rate difference Δω. The road surface camber correction section 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 :

    2018-06-21


    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



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