| 摘要 |
In an LKAECU 10, a lane recognition unit 21 recognizes a travel lane along which a vehicle is traveling. Furthermore, a target trajectory generation unit 22, a first adder 24, a feedforward steering angle calculation unit 25, a feedback steering angle calculation unit 26, a second adder 27, a feedforward torque calculation unit 28, a feedback torque calculation unit 29, and a third adder 30 calculate a request torque τtgt for controlling the steering of the vehicle such that departure of the vehicle from the travel lane is inhibited. Moreover, a road-surface-camber correction unit 23 detects an estimated camber angle θG, i.e. the inclination angle of the road surface of the travel lane along which the vehicle is traveling. Furthermore, the road-surface-camber correction unit 23 calculates the yaw rate difference ∆ω to detect the drift of the vehicle. The road-surface-camber correction unit 23 corrects the request torque τtgt on the basis of the estimated camber angle θG and the yaw rate difference ∆ω. |
