To calculate a yaw moment of the optimum value without being influenced by detection accuracy of a yaw rate sensor.
The lane deviation prevention device calculates a target yaw moment given to the vehicle as lane deviation prevention control using a correction yaw moment (step S7, step S8), and performs traveling control of the vehicle such that the target yaw moment is given to the vehicle when it is determined that a degree of deviation inclination of the vehicle relative to a traveling lane is high (step S10). During when it is presumed that the yaw rate of the vehicle is less than a predetermined threshold value set corresponding to the yaw rate by the calculation processing of the correction yaw moment, the target yaw moment is calculated so as to include deceleration in a parameter. When it is presumed that the yaw rate of the vehicle is the predetermined threshold value or higher, the target yaw moment is calculated so as to include the yaw rate detected by the yaw rate sensor in the parameter.
SATO SUSUMU
HAYAKAWA YASUHISA
IWASAKA TAKESHI
| JP2006182127A | 2006-07-13 | |||
| JP2003112540A | 2003-04-15 | |||
| JP2004025916A | 2004-01-29 | |||
| JP2006085524A | 2006-03-30 | |||
| JPH03246151A | 1991-11-01 |
Yoshiaki Naito
Cui Shu Tetsu
Toru Miyasaka