LANE KEEPING CONTROL DEVICE OF VEHICLE
First Claim
1. A lane keeping control device of a vehicle that sets a target course on which the vehicle is to travel, calculates a control amount for an electric power steering motor on the basis of at least a deviation from the target course, and controls the vehicle to travel along the target course, the lane keeping control device of the vehicle comprising:
- a lateral position feedback controller that calculates, on the basis of the deviation between the target course and a position of an estimated vehicle track of the vehicle, a control amount by feedback control such that the deviation of the position is eliminated; and
a lateral position feedback gain setter that sets an influence degree of the control amount by the lateral position feedback controller to be higher when a traveling road width is large than when the traveling road width is small.
2 Assignments
0 Petitions
Accused Products
Abstract
A lane keeping control device of a vehicle sets a motor basic current according to driver steering torque, calculates a feed-forward control amount on the basis of a traveling road shape, calculates a deviation between positions of a vehicle track and a target course at a forward observation point to calculate a lateral position feedback control amount, calculates a yaw angle feedback control amount on the basis of a yaw angle of the vehicle, sets a lateral position feedback gain of the lateral position feedback amount to be larger when a traveling road width is large than when the traveling road width is small, and sets a yaw angle feedback gain of the yaw angle feedback control amount to be larger when the traveling road width is small than when the traveling road width is large.
-
Citations
8 Claims
-
1. A lane keeping control device of a vehicle that sets a target course on which the vehicle is to travel, calculates a control amount for an electric power steering motor on the basis of at least a deviation from the target course, and controls the vehicle to travel along the target course, the lane keeping control device of the vehicle comprising:
-
a lateral position feedback controller that calculates, on the basis of the deviation between the target course and a position of an estimated vehicle track of the vehicle, a control amount by feedback control such that the deviation of the position is eliminated; and a lateral position feedback gain setter that sets an influence degree of the control amount by the lateral position feedback controller to be higher when a traveling road width is large than when the traveling road width is small. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
-
Specification