| 摘要 |
A lane keeping and assisting method of a vehicle is provided to reduce a sense of incongruity of drivers by supplying torque capable of easily operating a steering wheel in a direction of decreasing relative error distance, to a steering wheel and torque capable of laboriously operating the steering wheel in a direction of increasing relative error distance, to the steering wheel. A lane keeping and assisting method of a vehicle comprises the steps of: judging whether relative error distance is over a critical value or not(S20); controlling the steering angle of front wheels of the vehicle by laying emphasis on the decrease of the relative error angle instead of the decrease of the relative error distance, if the relative error distance is not over a critical value(S30); judging whether the relative error angle is over 0 or not(S40); controlling the steering angle of the front wheels of the vehicle to reduce the relative error distance, if the relative error angle is 0(S50); judging whether the relative error distance is 0 or not(S60); and controlling the steering angle of the front wheels of the vehicle by laying emphasis on the decrease of the relative error distance instead of the decrease of the relative error angle, if the relative error distance is 0(S70).
|
