| 摘要 |
PROBLEM TO BE SOLVED: To prevent the departure of a vehicle from a travel lane even when the degree of tendency of the vehicle to depart from the lane is low. SOLUTION: Yaw moment M1 according to degree of the tendency of the vehicle to depart from the travel lane is calculated and target yaw moment Ms according to the calculated yaw moment M1 is applied to the vehicle. When the calculated yaw moment M1 is not greater than the minimum target yaw moment Mmin, minimum control yaw moment Msm which increases as time passes is used. An initial value Msm0 of the minimum control yaw moment Msm is a value smaller than the minimum target yaw moment. COPYRIGHT: (C)2009,JPO&INPIT
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