Patent ID: 9550526
Date: 2017-01-24
CPC Classifications: B60W,B62D

Claim:
1. A lane keeping control system, comprising: a processor that comprises: a steering control apparatus configured to control steering of the vehicle according to the calculated target yaw rate, wherein the target trace generator is configured to calculate the coordinates of the target point by equations, where y is the transverse distance to the target point, x is the longitudinal distance to the target point, ρ road is a curvature of a center of a lane, L is the target distance, and ε is an offset value from the center of the lane, and wherein the curvature of the target trace for keeping the target point is calculated by an equation, where ρ des is the curvature of the target trace, R des is a radius of the curvature of the target trace, L is the target distance, φ is a heading angle of the vehicle with respect to a center of a lane, and x and y are the longitudinal distance and the transverse distance to the target point.