Patent ID: 6493619
Filing Date: 2002-12-10
Classification: B60T,B62D

Abstract:
A lane keeping assistance system for an automotive vehicle, comprising:a traffic lane information detector to detect an information related to a traffic lane on which the vehicle is about to run; a steering angle sensor to detect a steering angle of a steering wheel of the vehicle; a steering position changing section by which the steering wheel of the vehicle is enabled to be displaced independently of a manual steering operation through the steering wheel; a controlled steering target value setting section that sets a controlled steering target value when a controlled steering to follow the traffic lane is carried out on the basis of at least the traffic lane related information detected by the traffic lane information detector and the steering angle detected by the steering angle sensor; a controlled steering command value setting section that outputs a control command value in accordance with the controlled steering target value; a control command value filtering section that filters the control command value to pass only frequency components of the control command value lower than a predetermined filter threshold value to derive a filtered control command value during an execution of the controlled steering; a manual steering intervention detector to detect a steering intervention state to the controlled steering by the manual steering operation when the filtered control command value is in excess of a predetermined threshold control command value; and a controlled steering target value limiter to reduce the control command value toward zero value to suppress the controlled steering target value toward a lower value direction including zero when the manual steering intervention is detected by the manual steering intervention detector.