| 摘要 |
PROBLEM TO BE SOLVED: To provide an inexpensive device for executing lane travel support for a vehicle on the basis of the curvature of the road estimated by checking the curvature of the road in a vehicle advancing direction calculated on the basis of detected information of a navigation device and the curvature of the road calculated on the basis of detected information by a travel lane detection means or the like. SOLUTION: The device is equipped with a steering control means (a motor-driven power steering system) and a travel lane detecting means (a camera or the like), and supports the travel inside the lane of the vehicle by making correction of steering in accordance with the detected results and the steering and travel conditions of the vehicle. In particular, the curvature of the road in the vehicle advancing direction is estimated on the basis of a first curvature of the road calculated on the basis of results calculated by a vehicle quantity of state calculating means and by a condition detecting means and a second curvature of the road calculated on the basis of a positional coordinate corresponding to the predetermined distance in an advancing direction of the vehicle which is detected by a navigation device NAV. On the basis of the the curvature of the road and the steering and travel conditions of the vehicle, the target quantity of state is set. COPYRIGHT: (C)2006,JPO&NCIPI |
