Patent ID: 8862326
Filing Date: 2014-10-14
Classification: B62D

Abstract:
1. A vehicle travel assisting device, comprising: travel state quantity detecting means for detecting, at a predetermined interval, a vehicle speed and a yaw rate that are travel state quantities indicating a traveling state of an own vehicle; periphery monitoring means for detecting, at a predetermined interval, a traveling lane in which the own vehicle is traveling and a position of a leading vehicle present ahead of the own vehicle; target travel coordinate recording means for calculating, at a predetermined interval, target travel coordinates that are target coordinates through which the own vehicle should travel, based on the traveling lane and the position of the leading vehicle detected by the periphery monitoring means, and recording the calculated target travel coordinates; travel path curvature estimating means for estimating, at a predetermined interval, a travel path curvature that is a curvature of a target travel coordinate group, based on information related to the target travel coordinate group recorded by the target travel coordinate recording means; steering feed-forward calculating means for calculating a steering quantity to be steered in advance by the own vehicle, based on the travel path curvature currently estimated by the travel path curvature estimating means; and steering control means for performing steering control such that the own vehicle travels such as to follow the travel path curvature estimated by the travel path curvature estimating means, based on the steering quantity calculated by the steering feed-forward calculating means, wherein the travel path curvature estimating means includes curvature estimation calculation adjusting means for adjusting a weight for each of the target travel coordinates used to estimate the travel path curvature, based on the vehicle speed and the yaw rate detected by the travel state quantity detecting means and the previously estimated travel path curvature.