| 摘要 |
PROBLEM TO BE SOLVED: To suppress a state that the vehicle action variation of its own vehicle exceeds supposed vehicle action variation due to a traveling environment or the like in the case of applying yaw moment to the vehicle to evade deviation from a lane. SOLUTION: In the lane deviation preventing method, a yaw angle acceleration estimation value ddϕe estimated to be generated in its own vehicle is calculated based on target yaw moment Ms during the operation of deviation evading control, a real yaw angle acceleration ddϕr is calculated, and when the absolute value ¾ddϕr¾ of the real yaw angle acceleration is larger than the absolute value ¾ddϕe¾ of the yaw angle acceleration estimation value and a difference between both the absolute values is an offset valueΔddϕand more, necessity of correcting a controlled variable is judged (S10), a target yaw moment reference value MsO corresponding to the side deviation quantity of its own vehicle is corrected in a direction where the yaw angle acceleration estimation value ddϕe and the real yaw angle acceleration ddϕr coincide with each other, and the corrected value is set as the target moment Ms (S11). COPYRIGHT: (C)2006,JPO&NCIPI
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