[Problem to be Solved] To provide a lane keeping assist device capable of accurately controlling a lateral acceleration rate so as not to exceed a maximum lateral acceleration rate while suppressing influences of vehicle properties or a surrounding environment.[Solution] A lane keeping assist device 1 includes: a lane recognition unit 31 that recognizes a lane in which a vehicle is traveling; a target steering angle arithmetic operation unit 32 that performs an arithmetic operation for a target steering angle θa for following a target path in the lane; a lane keep control unit 33 that performs steering control based on the target steering angle θa so as to keep the vehicle traveling inside the lane and so as not to exceed a maximum lateral acceleration rate set in advance; a lateral acceleration rate acquisition unit 34 that acquires a lateral acceleration rate occurring in the vehicle as a first lateral acceleration rate Ayy; a lateral acceleration rate arithmetic operation unit 35 that performs an arithmetic operation for a lateral acceleration rate based on a steering angle input from a steering angle sensor 24 as a second lateral acceleration rate Ays; and a control adjustment unit 36 that compares the first lateral acceleration rate Ayy with the second lateral acceleration rate Ays and performs adjustment of the steering control based on an index I representing a comparison result.
LANE KEEPING ASSIST DEVICE
VORRICHTUNG ZUR UNTERSTÜTZUNG BEIM FOLGEN EINER FAHRSPUR
DISPOSITIF D'AIDE AU MAINTIEN DE VOIE
12.03.2025
Patent
Elektronische Ressource
Englisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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