| 摘要 |
PROBLEM TO BE SOLVED: To improve lane keeping function without giving unusual feelings to a driver.SOLUTION: Assist torque for keeping an own vehicle in a lane toward a direction of preventing the own vehicle from deviating from a travel lane is given to such an extent that a driver can withstand. Dead zones (-L1 to L1) are set with respect to shift length in the transverse direction in the travel lane on which the own vehicle is travelling. In the dead zones, lane keeping assist torque (maximum value=α) is given to an extent within a range unnoticeable by the driver. |
