| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To provide a lane deviation preventing device for accurately performing route correction to a deviation preventing direction without giving any sense of discomfort to a driver when it is determined that there is possibility that an own vehicle deviates from a traveling lane. <P>SOLUTION: This lane deviation preventing device is configured to estimate the abrasion amounts of a brake pad based on the brake liquid pressure history of each wheel, and to, when it is determined that there is possibility that the own vehicle deviates from a traveling lane based on the traveling state of its own vehicle, correct controlled variables in deviation prevention control according to the abrasion amounts of the brake pad of each wheel, and to combine yaw control for generating yaw moment in the own vehicle, deceleration control for decelerating the own vehicle and steering torque control for generating steering torque to prevent the deviation of the own vehicle from the lane. <P>COPYRIGHT: (C)2005,JPO&NCIPI</p> |
