| 摘要 |
PROBLEM TO BE SOLVED: To make it possible to execute a lane keeping control in a state of considering the influence of conditions of an on-vehicle camera and a vehicle body.SOLUTION: An FF target steering wheel angle calculation unit 24b calculates an FF calibration value from a ratio of a target forward path recognition curvature set on the basis of an image picked up by an on-vehicle camera 22 to an FB curvature set on the basis of a steering wheel angle detected by a steering wheel angle sensor 12 in the FF target steering wheel angle calculation unit 24b, calibrates an FF steering wheel angle set on the basis of the recognition curvature using this FF calibration value, and sets an FF target steering wheel angle. Since the FF target steering wheel angle is calibrated by the FF calibration value including a factor representing a condition of the camera or the like, it is possible to obtain appropriate feed forward controllability. |
