| 摘要 |
PROBLEM TO BE SOLVED: To provide a lane keeping system allowing a driver to feel less sense of incongruity due to the reaction force felt by the driver through a steering handle when steering left and right front wheels 1L, 1R to prevent a vehicle from deviating from a boundary line of running lanes. SOLUTION: In this vehicle provided with a vehicle system 100 having a tow angle changing device 120 capable of controlling tow angles of left and right rear wheels 2L, 2R independently, a steering control ECU 130 controls tow anglesθ<SB>T</SB>of the left and right rear wheels 2L, 2R when the vehicle deviates from the current running lane to keep the current running lane. Furthermore, when a target yaw rate for correcting deviation is large, the steering control ECU 130 controls the tow anglesθ<SB>T</SB>of the left and right rear wheels 2L, 2R and steers the left and right front wheels 1L, 1R through an electric power steering device 110 to keep the current running lane. COPYRIGHT: (C)2008,JPO&INPIT |
