Seitliche Steuerung zum Folgen einer Fahrspur

摘要

A look ahead sensor (98) including a CCD camera (11) and an image processor (102) detects a lane marking on the surface of a roadway. The image processor (102) estimates a lateral displacement (Yn) of a point at a preview distance in front of the vehicle from a target line. The target line is a line between lane markings defining a lane. An electric motor coupled to the steering mechanism is used to provide a bias (a torque input) to the steering, which may either assist or oppose the steering torque from the driver. A steering controller (12) is designed to assist the driver to maintain the vehicle's lane position by holding the vehicle at the target line using a biasing torque if lane following is selected by the driver. In order to reflect the driver preference in lane following, the controller (12) collects a sufficient number of measurements of the vehicle lateral displacement when lane following is not selected. Based on the collected data, the controller (12) updates the target line position. In the subsequent lane following, the driver is assisted to maintain the vehicle at this updated target line.