자차량의 외부의 상태를 검출하는 센서 및 제어 장치를 구비한 차량 제어 장치를 사용하여, 차량을 제어하는 차량 제어 방법이며, 자차량의 주행 차선에 대하여 횡방향으로의 조타량을 부여하여, 자차량의 주행 궤적을 목표 궤적으로 되돌리는 제어를 통상 제어로서 실행하고, 센서의 검출 데이터를 사용하여, 타차량이 자차량의 주행 차선과 인접하는 인접 차선을 주행하고 있는지 여부를 판정하고, 타차량이 자차량보다 전방에서 인접 차선을 주행하고 있다고 판정한 경우에는, 자차량이 타차량을 통과하기 전에, 조타량의 응답성을 통상 제어 시의 조타량의 응답성보다 높인다.

차량 제어 방법 및 차량 제어 장치

PROBLEM TO BE SOLVED: To prevent a sense of incongruity from being given to a driver in tracing a running line. SOLUTION: In this steering device, a clockwise control gain KR1 and a counter-clockwise control gain KL1 are set from the control gain map of a right side vehicle relative lateral position dyR (S9). A clockwise control gain KR2 and a counter-clockwise control gain KL2 are set from the control gain map of a left side vehicle relative lateral position dyL (S10). A clockwise correction factor α1 and a counter-clockwise correction factor β1 are set from the correction map of a right side vehicle relative lateral speed ΔdyR (S11). A clockwise correction factor α2 and a counter-clockwise correction factor β2 are set from the correction map of a left side vehicle relative lateral speed ΔdyL (S11). COPYRIGHT: (C)2001,JPO

Steering device for vehicle

PROBLEM TO BE SOLVED: To provide a lane keeping controller that safely performs lane keeping control while suppressing an increase in cost.SOLUTION: A lane keeping controller 1 which controls a vehicle to travel while keeping a predetermined position in a width direction of a travel lane partitioned by lane partition lines, comprises: partition line recognition means 4 that recognizes lane partition lines on both sides of right and left; partition line recognition rate calculating means 5 that calculates recognition rates of lane partition lines recognized by the partition line recognition means 4; and travel position change means 6 that sets a target position of keeping traveling within the travel lanes when the recognition rate for the lane partition line of lower recognition rate, out of right and left lane partition lines recognized by the partition line recognition means 4, is lower than a first threshold value, and controls the vehicle to travel while keeping the target position. The travel position change means 6 sets a target position so that the target position becomes closer to a lane partition line of a higher recognition rate, as the recognition rate of the lane partition line of lower recognition rate out of right and left lane partition lines recognized by the partition line recognition means 4 is lower.

Lane keeping controller

PROBLEM TO BE SOLVED: To provide a vehicular steering device capable of setting a more proper steering ratio.SOLUTION: A controller calculates (step S102) a mismatching degree of a steering ratio which indicates a degree of deviation between a proper steering ratio (a ratio of a steering angle of a steering wheel to a steering amount (steering angle)) to a driver, and an actual steering ratio (G), based on at least one of the steering amount (steering angle) of a steering operation piece (steering wheel) to which the driver can perform steering operation, and the steering angle of the steering wheel. Then the controller modifies the steering ratio (steps S103-S106) in a direction that the calculated degree of deviation becomes smaller, based on the calculated degree of deviation.

Vehicular steering device

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차량 제어 방법 및 차량 제어 장치

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Steering device for vehicle

Lane keeping controller

Vehicular steering device