| 摘要 |
PROBLEM TO BE SOLVED: To provide a lane deviation prevention control device of a vehicle, capable of properly performing disturbance compensation by integration control to surely preventing deviation from a lane, without giving a discomfort feeling to a driver.SOLUTION: A lane deviation prevention control calculates a target yaw moment Mzt that is added to an own vehicle based on a feedback control including integration control for integrating a difference between a target yaw rate γt and an actual yaw rate γ. An integration gain ki that is multiplied with an integration value of a difference between the target yaw rate γt and the actual yaw rate γ is variably set according to disturbance information which affects on a steering system of a vehicle. |
