Patent ID: 6879890
Filing Date: 2005-04-12
Classification: B60T,B60W

Abstract:
1. A lane keep control apparatus for an automotive vehicle, comprising: a travel state detecting section that detects a travel state of the vehicle; a divergence tendency determining section that determines whether a tendency of a divergence of the vehicle from a traffic lane on which the vehicle is traveling occurs according to the travel state detected by the travel state detecting section; a driving force controlled variable calculating section that calculates a driving force controlled variable for each road wheel to develop a yaw moment in a direction in which the divergence of the vehicle from the traffic lane is avoided in accordance with the travel state detected by the travel state detecting section, the driving force controlled variable calculating section comprising a driving force controlled variable correcting section that corrects the driving force controlled variable of each road wheel in such a manner that the yaw moment developed in the direction in which the divergence of the vehicle from the traffic lane is avoided is increased in accordance with a history of a control executed to avoid the divergence of the vehicle from the traffic lane; and a driving force controlling section that controls a driving force of each road wheel in accordance with the driving force controlled variable calculated by the driving force controlled variable calculating section.