A driver assistance apparatus includes a neutral point learning calculator. The neutral point learning calculator sets a neutral point learning correction value by which a neutral point of a steering angle instruction value is to be corrected. The neutral point learning calculator includes: a first estimated lateral acceleration calculator that calculates a first estimated lateral acceleration based on a steering angle and a vehicle speed; a second estimated lateral acceleration calculator that calculates a second estimated lateral acceleration, based on the vehicle speed and a lane curvature; a lateral acceleration difference calculator that calculates a lateral acceleration difference based on a difference between the first and the second estimated lateral accelerations; a steering angle difference calculator that calculates a steering angle difference, based on the lateral acceleration difference; and a neutral point learning correction value setter that sets the steering angle difference to the neutral point learning correction value.
DRIVER ASSISTANCE APPARATUS FOR VEHICLE
2025-04-17
Patent
Electronic Resource
English
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