| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To provide a supporting apparatus for lane keeping, effectively preventing deviation from the traveling lane, while reducing sense of incongruity caused by deviation from a traveling line intended by a driver. <P>SOLUTION: Feedback control is performed to reduce deviation based on angular deviation in the traveling direction of an own car C to the traveling lane. During that, control gain is corrected by distance of the own car to lateral edge reference positions positioned on the traveling direction side of the own car C of right and left traveling lane edge parts Le, and the control gain is corrected to become larger as the distance of the own car to the lateral edge reference positions becomes shorter. <P>COPYRIGHT: (C)2009,JPO&INPIT</p> |
