A lane-deviation-suppressing-system (1) sets a target point in front of a lane when a vehicle travels, and calculates, as a target trajectory, an trajectory causing the vehicle to travel to the set target trajectory, using a polynomial of fifth-order with respect to time. Then, the system judges that a recalculation of the target trajectory is necessary if the vehicle traveling along the target trajectory returns to the target point after separating from the target point in an orthogonal direction to an extending direction of the lane. If the system judges that the recalculation of the target trajectory is necessary, it recalculates that. For calculating the target trajectory, depending on a vehicle traveling state, the system selects a fifth or higher order polynomial or a polynomial of first-order with respect to time. If using the first-order polynomial, it is used by calculating a lateral speed at which the vehicle moves in the orthogonal direction.
LANE DEVIATION SUPPRESSING SYSTEM
05.07.2018
Patent
Elektronische Ressource
Englisch
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