| 摘要 |
PROBLEM TO BE SOLVED: To accurately correct a route in a direction to prevent the deviation, when the probability of the deviation from a traveling lane by a self-vehicle is determined. SOLUTION: When the probability of the deviation from the traveling lane by the self-vehicle is determined, a target yaw moment in the direction to prevent the deviation is calculated, then the yaw moment is corrected in response to a road lane line for suppressing the approach of the self-vehicle detected on the basis of the peripheral environment of a road of a self-vehicle travelling lane and the deviation prevention control is conducted. COPYRIGHT: (C)2005,JPO&NCIPI |
