To provide a lane departure prevention control device that prevents an own vehicle from departing toward a lane opposite from a departure prevention target lane and prevents the own vehicle from departing again from the departure prevention target lane at the time of controlling the orientation of the own vehicle.SOLUTION: An integration propriety determination unit 73 is configured to determine based on a state of an own vehicle to a lane and a state of an actual yaw rate with respect to a target yaw rate the possibility of integration control in PID control of a feedback torque calculation unit 72. During departure prevention control after lane departure prevention control starts, it is determined that the integration control can be performed and feedback torque is calculated by the PID control. When the departure prevention control shifts to the orientation determination control, it is determined that the integration control cannot be performed and feedback torque is calculated by the PD control. Thereafter, when an actual yaw rate shifts toward the departure side with respect to the target yaw rate, integration with the integral amount is initiated and the PID control is reactivated.SELECTED DRAWING: Figure 2
【課題】車線逸脱防止制御で自車両の姿勢を制御する際に、逸脱防止対象の車線とは逆側の車線への逸脱挙動が発生することを防ぎつつ、逸脱防止対象の車線からの再逸脱を防止する。【解決手段】積分可否判定部73は、車線に対する自車両の状態と目標ヨーレートに対する実ヨーレートの状態とに基づいて、フィードバックトルク算出部72のPID制御における積分制御の可否を判定する。車線逸脱防止制御開始後の逸脱抑制制御中は、積分制御を可と判定してPID制御によりフィードバックトルクを算出させる。逸脱抑制制御から姿勢決定制御に移行したときには、積分制御を否と判定してPD制御でフィードバックトルクを算出させ、その後、目標ヨーレートに対して実ヨーレートが逸脱側に遷移した場合、積分量の積分を開始させて、PID制御を復活させる。【選択図】図2
LANE DEPARTURE PREVENTION CONTROL DEVICE FOR VEHICLE
車両の車線逸脱防止制御装置
22.07.2019
Patent
Elektronische Ressource
Japanisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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