Patent ID: 6542800
Filing Date: 2003-04-01
Classification: B60T,B60W,B62D,G05D

Abstract:
A lane following vehicle control apparatus for a vehicle, comprising:a lane sensing section to collect information on a lane of a road ahead of the vehicle; a steering angle sensing section to sense an actual steering angle of the vehicle; a steering torque producing section to produce an actual steering torque in accordance with a target steering torque to follow the lane; a steering torque controlling section to set the target steering torque required for the vehicle to follow the lane, in accordance with the information on the lane and the actual steering angle; a control steering direction discriminating section to determine whether a control steering direction of the steering torque controlling section is a steer direction away from a straight ahead neutral position or a return direction toward the straight ahead neutral position; and a target steering torque limiting section to limit the target steering torque by setting a target torque limit in dependence on whether the control steering direction is the steer direction or the return direction.