| 摘要 |
PROBLEM TO BE SOLVED: To reduce drivers' fatigue during turning while performing a lane keeping control.SOLUTION: Assist torque for lane keeping in a direction to avoid a deviation of its own vehicle from a traffic lane is applied at a level within a range drivers can overcome. When a lateral G applied to its own vehicle is equal to or more than a prescribed value set in advance, an increase in the assist torque for lane keeping is suppressed. Suppression of the assist torque for lane keeping is performed, for examples, by such as: gradually reducing a gain for calculating the assist torque for lane keeping in response to an increase in a lateral G; keeping the assist torque for lane keeping at the level when the lateral G became the prescribed value; or limiting the assist torque for lane keeping so that lateral direction friction force M to a seat back 13 of a driver 20 does not become smaller than lateral force Y. |
