| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To provide a lane departure prevention device capable of preventing a traveling lane from being easily lost even under lane departure prevention control. <P>SOLUTION: When a target yew moment M<SB>s</SB>is set by the control of braking force in order to prevent lane departure, an equivalent steering angleδ<SB>M</SB>equivalent to the target yew moment M<SB>s</SB>is calculated at the time of succeeding arithmetic processing, the equivalent steering angleδ<SB>M</SB>is added to a steering angleδto calculate a corrected steering angleδ<SB>C</SB>and the traveling lane is detected by a lane marker or the like on the basis of the corrected steering angleδ<SB>C</SB>, the traveling lane is not easily lost by adding a change in the direction of the vehicle itself. <P>COPYRIGHT: (C)2004,JPO</p> |
