Lane keeping control device of vehicle
View Patent ↗A lane keeping control device of a vehicle sets a motor basic current according to driver steering torque, calculates a feed-forward control amount on the basis of a traveling road shape, calculates a deviation between positions of a vehicle track and a target course at a forward observation point to calculate a lateral position feedback control amount, calculates a yaw angle feedback control amount on the basis of a yaw angle of the vehicle, sets a lateral position feedback gain of the lateral position feedback amount to be larger when a traveling road width is large than when the traveling road width is small, and sets a yaw angle feedback gain of the yaw angle feedback control amount to be larger when the traveling road width is small than when the traveling road width is large.
1. A lane keeping control device of a vehicle that sets a target course on which the vehicle is to travel, calculates a control amount for an electric power steering motor on the basis of at least a deviation from the target course, and the control amount being an electric motor current value for the electric power steeting motor, controls the vehicle to travel along the target course, the lane keeping control device of the vehicle comprising:
the lateral position feedback controller that calculates, on the basis of the deviation between the target course a position of an estimated vehicle track of the vehicle, a control amount by feedback control such that the deviation of the position is eliminated; and
a lateral position feedback gain setter that sets an influence degree of the control amount by the lateral position feedback controller to be higher when a traveling road width is larger than when the traveling road width is smaller;
a yaw angle feedback controller that calculates on the basis of a deviation of a yaw angle of the vehicle with respect to the target course, the control amount of the feedback control such that the devication of the yaw angle is eliminated; and
a yaw angle feedback gain setter that sets influence degree of the control amount by the yaw angle feedback controller to be higher when the travelling road width is smaller than when the travelling road width is larger.
2. The lane keeping control device of a vehicle according to claim 1 , wherein the traveling road width is determined according to a type of a traveling road.
3. The lane keeping control device of a vehicle according to claim 2 , further comprising a feed-forward controller that calculates, on the basis of a traveling road shape, a control amount necessary for traveling along the target course by feed-forward control.
4. The lane keeping control device of a vehicle according to claim 1 , further comprising a feed-forward controller that calculates, on the basis of a traveling road shape, a control amount necessary for traveling along the target course by feed-forward control.