To appropriately compensate friction of a steering system at the start of lane departure prevention control and prevent lane departure without offering discomfort to a driver.SOLUTION: A target steering torque for realizing a target yaw rate is calculated by a target steering torque calculation unit 70. Rate limit processing of the target steering torque is executed by a rate limiter 75. Then, a variable control is executed on an addition rate by a friction compensate rate variable control unit 85 in accordance with a steering torque by a driver and a travelling state of an own vehicle. The addition rate is utilized when friction is compensated by adding a friction torque estimated by a friction torque estimation unit 80 to the target steering torque on which the rate limit processing is executed.SELECTED DRAWING: Figure 2
【課題】車線逸脱防止制御の開始時に操舵系の摩擦を適正に補償し、ドライバに違和感を与えることなく車線逸脱を防止する。【解決手段】目標操舵トルク算出部70で目標ヨーレートを実現するための目標操舵トルクを算出し、レートリミッタ75で目標操舵トルクをレートリミット処理する。そして、レートリミット処理した目標操舵トルクに、摩擦トルク推定部80で推定した摩擦トルクを加算して摩擦補償する際の加算割合を、摩擦補償割合可変制御部85でドライバの操舵トルクと自車両の走行状態とに基づいて可変制御する。【選択図】図2
LANE DEPARTURE PREVENTION CONTROL UNIT FOR VEHICLE
車両の車線逸脱防止制御装置
2019-07-22
Patent
Electronic Resource
Japanese
Lane departure prevention device and lane departure prevention system
European Patent Office | 2019
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