| 摘要 |
PROBLEM TO BE SOLVED: To provide a lane follow-up control device improved so that the variation of physical parameters will not lead to the deterioration of a lane follow-up performance. SOLUTION: This lane follow-up control device comprises a road configuration detection means for detecting a road configuration during traveling, a means for modeling a traveling lane based on the output of the road configuration detection means, and a means for modeling the steering system of a vehicle based on the output of a moving state amount detection means and preset vehicle specifications. A means for modeling the uncertainties of the vehicle specifications is added to the control device. Thus, even if variable elements are contained in the vehicle specifications, the accuracy and stability of the lane follow-up control device can be increased since the lane follow-up performance is not impaired. |
