| 摘要 |
PROBLEM TO BE SOLVED: To perform steering assistance by performing control while leading a driver so as to maintain an advancement road while being suitably associated with the driver according to the condition of the driver. SOLUTION: A control amount Tc is calculated by calculating X coordinate xc of a target passing point Pc in a front gazing distance zt and X coordinate xe of a presumption passing time Pe and adding an operation item obtained by multiplying a first control gain G1 on deviation of the coordinates xc, xe and an operation item obtained by multiplying a second control gain Gy on a yaw angleθca. Here, the first and second control gains G1, Gy are set in a direction (G1 and Gy are large values respectively) that a settling time of steering control that one's own vehicle travels on a target advancement road is shortened as a release time Tso is long, whereas, when the release state is not detected, they are set in the direction (G1 and Gy are large values respectively) that the settling time of steering control that the one's own vehicle travels on the target advancement road is shortened as the degree of awakening DA is low or the degree of aimlessness DL is high. COPYRIGHT: (C)2011,JPO&INPIT |
