Off-road departure prevention control device for a vehicle

摘要

PROBLEM TO BE SOLVED: To properly generate a yaw moment for lane deviation prevention without causing deterioration of a traveling feeling by an unnecessary deceleration feeling without providing an especially new mechanism or the like.;SOLUTION: A lane deviation prevention controller for a vehicle calculates a first deviation amount yL based on white line position information, calculates a second deviation amount yS based on obstacle position information, calculates, based on the deviation amounts yL, yS to an obstacle or a white line, braking forces Bfi, Bfo, Bri, Bro preventing deviation of the vehicle to the obstacle or the white line by making the yaw moment or a deceleration be generated in the vehicle 1, outputs them to a brake controller 10, calculates a necessary moment M necessary to prevent the deviation of the vehicle to the obstacle or the white line according to an intersection angle α, the first deviation amount yL, and the second deviation amount yS, sets a torque-up reference value Ts according to the necessary moment M, performs correction by a torque-up correction gain Gt set according to a vehicle speed V0 to determine a torque-up amount ΔT, and outputs it to an engine controller 11.;COPYRIGHT: (C)2012,JPO&INPIT