| 摘要 |
PROBLEM TO BE SOLVED: To enable regulation of the amount of control for lane escape prevention to an optimum value. SOLUTION: A lane escape prevention device is provided with a vehicle speed estimated value calculating part 13 to decide the magnitude of a yaw moment applied on a vehicle for lane escape prevention; a yaw rate estimating value calculating part 14; a target yaw rate correction amount calculating part 15 and after correction target yaw moment calculating part 16 (a yaw moment deciding means); and a target yaw moment calculating part 12 to generate a yaw moment, decided by the yaw moment calculating part, by controlling braking by a brake hydraulic brake device 2. The yaw moment deciding means finally decides a yaw moment exerted on a vehicle for lane escape prevention in anticipation of the yaw rate generated by detected braking when braking other than the aforesaid braking by the target moment calculating part 12 is detected. COPYRIGHT: (C)2004,JPO
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