Off-road departure prevention control device for a vehicle

摘要

PPROBLEM TO BE SOLVED: To suppress vibration and noise generated by a brake device without giving excessive load to a brake, precisely transmit a current travel state to a driver by steering control and brake control, and appropriately prevent lane deviation of a vehicle. PSOLUTION: A first brake control amount ABL0 for preventing deviation from a white line according to an amount of deviation from the white line and a second brake control amount ABS0 for preventing deviation from an obstacle according to an amount of deviation from the obstacle are set. A first steering control amount ASL0 for preventing deviation from the white line is set in an area having deviation amount smaller than deviation in an area where the first brake control amount ABL0 is set. A second steering control amount ASS0 for preventing deviation from an obstacle is set in an area having deviation amount smaller than deviation in an area where the second brake control amount ABS0 is set. Then, based on them, the amount of brake control AB and the amount of steering control AS are calculated. PCOPYRIGHT: (C)2011,JPO&INPIT