| 摘要 |
An ESP(Electronic Stability Program) integrated LKAS(Lane Keeping Assist/Support System) and a control method for the same are provided to control vehicles reliably by using feedback and feedforward control values and to control rear wheels by an ESP without directly operating a steering actuator. An ESP integrated LKAS is composed of: an object device installed in a traveling vehicle(1); a vehicle state measuring device(5) measuring and providing information about the traveling state of the vehicle; an observing instrument(12) calculating the vehicle traveling information necessary for a controller(13) that is not measured from a virtual vehicle model by a measuring sensor unit, by using information about the traveling state of the vehicle; a lane judging device(8) comparing and analyzing behaviors of the virtual vehicle model by using the obtained image information about the road where the vehicle runs, and calculating information about a correlation value between the traveling vehicle and the front road and information about a curvature value of the front road necessary for feedback and feedforward controls in order to control the lane tracking of the traveling vehicle; and the controller executing the feedback and feedforward controls of the traveling vehicle according to a control value provided by analyzing the behavior of the virtual vehicle model.
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