| 摘要 |
PROBLEM TO BE SOLVED: To improve steering characteristics by preventing a vehicle from deviating the lane by means of a device provided for reducing generation of a return steering torque when it is judged that the driver has intentionally directed the vehicle into the control region. SOLUTION: A video camera 12 equipped with the vehicle shoots the white mark indicating the lane boundary on the road to the fore of the vehicle, and inputs the shooting results into an image processing device 14. The image processing device 14 processes the input data, and send the data on the position of the white mark and the like to ECU 10. The ECU 10 estimates the running line based on the input data, vehicle speed, and yaw rateγ. When it is judged the estimated running line has been located at the side edge of the lane, a motor torque is generated in a motor 36 for correcting the steering angleθsuch that the vehicle position is directed to the center of the lane. Then, it is judged the vehicle has deviated from either the right or left side control region. If it is judged that the vehicle has been deviating, the torque is eliminated. If it is judged that the vehicle has not been deviating and a predetermined length of time has been elapsed after the vehicle enters the control region, it is determined that the driver has intentionally changed the lane, thus terminating the deviation control. This control allows the driver to intentionally change the lane during driving. |
