PROBLEM TO BE SOLVED: To respond to the fact that there are diversely different time lags in diversely different disturbances while a lane-keeping support apparatus is in operation and suppress the discomfort forced to a driver by the disturbances appropriately in consideration of differences in time for detecting the occurrence of the disturbances, for which a certain extent of suppression is required of lane-keeping support control, such as a driver changes over a lane-change switch or performs other operations responsively when a change occurs to a target object including a white line, a preceding vehicle, a road feature and the like, or when an instruction value such as a driver torque input, a steering angle, support torque and the like, or its change rate reaches a limit.SOLUTION: When disturbance is detected, a countermeasure is provided to a transitory state caused by the detected disturbance on the basis of a detection value obtained at a temporal point going back by a period of time predetermined in consideration of time required for detecting the disturbance.SELECTED DRAWING: Figure 2
【課題】車線維持支援装置の作動中には、白線、先行車、道路形状その他の目標対象物の変化、ドライバトルク入力、操舵角や支援トルク等の指令値やその変化率が限界に達すること、ドライバがレーン切替スイッチを切り替えること等の外乱が作用するので、車線維持支援制御に何らかの抑制が望まれるが、種々に異なる外乱には種々に異なる時間遅れがあることに対処し、各種外乱がドライバに与える違和感を外乱発生の検出に要する時間の相違を考慮して適切に抑制する。【解決手段】外乱が検出されたときには、その検出に要する時間を考慮して予め定められた時間だけ過去に遡った時点の検出値に基づき該外乱による過渡状態に対処する。【選択図】図2
LANE-KEEPING SUPPORT APPARATUS
車線維持支援装置
2017-04-06
Patent
Electronic Resource
Japanese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |