Tax device to prevent a vehicle from entering a lane

摘要

a means of preventing the agreement of the vehicle from being driven by a lane, the means of which are as follows:a road information recording device (3, 4) to capture at least information on an obstacle and track-line information present at the roadside;a first deviation calculation device (5b) to calculate a deviation amount of a given vehicle (1) from a line as the first deviation amount (yL) based on the track line information;a second Deviation Amount Calculation Facility (5c) configured to calculate a Deviation Amount of the vehicle concerned in relation to an obstacle as the second Deviation Amount (yS) based on the obstacle information;-a front-end device (5g) for a first brake tax amount to specify a brake tax amount to prevent the vehicle from deviating as the first brake tax amount (ABLO) depending on the first deviation amount (yL);(5h) a front-end device (5h) for a second brake tax amount to specify a brake tax amount to prevent the vehicle in question from deviating from the brake as the second brake tax amount (ABS0) depending on the second deviation amount (yS);-a front-end device (5j) for a first steering control amount to set a steering control amount to prevent the vehicle in question from deviating from the track line (1) depending on the first deviation amount as the first steering control amount (ASLO) within a smaller deviation range than a the range of deviation where the first brake tax amount (ABLO) is specified;A second steering control input device (5k) to specify a steering control input to prevent the vehicle in question from deviating (1) from the obstacle depending on the second deviation amount as the second steering control input (ASSO) within a smaller deviation range than the the range of deviations in which the second brake tax amount (ABSO) is specified;a brake control device (5i, 10) to calculate a brake tax amount based on at least the first brake tax amount (ABLO) and the second brake tax amount (ABSO) and to perform a brake control; andA steering control device (51, 11) to calculate a steering control value on the basis of at least the first steering control value (ASLO) and the second steering control value (ASSO) and to perform a steering control.