To optimize a vehicle posture at an end of lane departure prevention control by determining switching timing of a target turning amount in the lane departure prevention control while considering a vehicle response delay and a detection delay of lane information.SOLUTION: A first target point arrival time Ttgt at which an own vehicle arrives at a first target point is calculated (S12), and it is checked whether the first target point arrival time Ttgt is equal to or less than a threshold Tset (S13) . In the case of being Ttgt>Tset, it is determined that switching from a first departure prevention behavior generation target yaw rate of intra-lane return control to a second departure prevention generation target yaw rate of posture control is NG (S15), and in the case of being Ttgt≤Tset, whether a duration time bing a state of Ttgt≤Tset is equal to or more than a fixed time set in advance is checked (S14). When the state of Ttgt≤Tset is equal to or more the fixed time, it is determined that the switching from the first departure prevention behavior generation target yaw rate to the second departure prevention behavior generation target yaw rate is OK (S16).SELECTED DRAWING: Figure 6
【課題】車線逸脱防止制御における目標旋回量の切り換えタイミングを車両応答の遅れや車線情報の検出遅れを考慮して判定し、制御終了時の車両姿勢を適正化する。【解決手段】自車両が第1目標点に到達する第1目標点到達時間Ttgtを算出し(S12)、第1目標点到達時間Ttgtが閾値Tset以下か否かを調べる(S13)。Ttgt>Tsetの場合、車線内復帰制御の第1逸脱防止挙動生成目標ヨーレートから姿勢制御の第2逸脱防止挙動生成目標ヨーレートへの切り換えはNGであると判定し(S15)、Ttgt≦Tsetの場合、Ttgt≦Tsetの状態である継続時間が予め設定した一定時間以上になったか否かを調べる(S14)。Ttgt≦Tsetの状態が一定時間以上になった場合、第1逸脱防止挙動生成目標ヨーレートから第2逸脱防止挙動生成目標ヨーレートへの切り換えはOKと判定する(S16)。【選択図】図6
LANE DEPARTURE PREVENTION CONTROL DEVICE FOR VEHICLE
車両の車線逸脱防止制御装置
13.06.2019
Patent
Elektronische Ressource
Japanisch
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 / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / B62D MOTOR VEHICLES , Motorfahrzeuge |
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