| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To always fit vehicle movement to the condition of a traveling road by switching a calculation method of a target yaw rate in response to the condition of the traveling road. <P>SOLUTION: It is determined that a traveling lane is a linear road or a curved road by difference of actual lateral displacement or the like relative to lateral displacement at the traveling lane based on curvatureρof the traveling lane, relative lateral displacement y<SB>s</SB>at a target position and a target yaw rateγ*. When it is the curved road, the target yaw rateγ* is set such that the yaw rate to the target position is averaged and when it is the linear road, the target yaw rateγ* is set such that tottering relative to the traveling lane is suppressed by generating delay of response of a target value or more, and thereby smooth traveling on the curved road and lively traveling on the linear road are realized. It gradually transfers to both target yaw rates at change of the linear road and the curved road. <P>COPYRIGHT: (C)2006,JPO&NCIPI</p> |
