To provide a lane keeping assist device that is able to accurately control lateral acceleration so as not to exceed the maximum lateral acceleration, while preventing influence by vehicle characteristics or peripheral environment.SOLUTION: A lane keeping assist device 1 includes: a lane recognition unit 31 configured to recognize a lane in which a vehicle is traveling; a target steering angle calculation unit 32 configured to calculate a target steering angle θa for following a target path in the lane; a lane keeping control unit 33 configured to perform steering control on the basis of the target steering angle θa, so as to maintain traveling of the vehicle in the lane and so as not to exceed a preset maximum lateral acceleration; a lateral acceleration acquisition unit 34 configured to acquire, as a first lateral acceleration Ayy, a lateral acceleration generated in the vehicle; a lateral acceleration calculation unit 35 configured to calculate a lateral acceleration based on a steering angle input from a steering angle sensor 24 as a second lateral acceleration Ays; and a control adjustment unit 36 configured to compare the first lateral acceleration Ayy with the second lateral acceleration Ays and adjust the steering control on the basis of an index I indicating a comparison result.SELECTED DRAWING: Figure 1

    【課題】車両特性または周辺環境による影響を抑制しながら、最大横加速度を超えないように精度よく横加速度を制御することができる車線維持支援装置を提供する。【解決手段】車線維持支援装置1は、車両が走行している車線を認識する車線認識部31と、前記車線内の目標経路に追従するための目標舵角θaを演算する目標舵角演算部32と、前記車両の前記車線内の走行を維持するように、かつ予め設定された最大横加速度を超えないように、前記目標舵角θaに基づいて操舵制御を行う車線維持制御部33と、前記車両に発生している横加速度を第1横加速度Ayyとして取得する横加速度取得部34と、操舵角センサ24から入力される操舵角に基づく横加速度を第2横加速度Aysとして演算する横加速度演算部35と、前記第1横加速度Ayyと前記第2横加速度Aysとを比較し、比較結果を表す指標Iに基づいて前記操舵制御の調整を行う制御調整部36とを備える。【選択図】図1


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    Title :

    LANE KEEPING ASSIST DEVICE


    Additional title:

    車線維持支援装置


    Contributors:
    KONDO YUKI (author)

    Publication date :

    2025-03-19


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    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 / B62D MOTOR VEHICLES , Motorfahrzeuge



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