Lane-keep control system for vehicle

A lane-keep control system of a host-vehicle comprising:

• a traveling condition detecting device that detects a traveling condition of the host-vehicle, the traveling condition including a state of a steering wheel;
• a brake hydraulic pressure control circuit that independently controls a hydraulic pressure of each wheel cylinder of the host-vehicle to generate a desired braking force of the host-vehicle;
• a driving torque control unit that controls a driving torque applied to driving wheels of the host-vehicle;
• and
• a driving/braking force control unit coupled to the traveling condition detecting device, the brake hydraulic control circuit and the driving torque control unit, the driving/braking force control unit being arranged,
• to determine that there is a tendency of a lane deviation that the host-vehicle is deviating from a traveling lane, on the basis of the traveling condition,
• to calculate a target yawing moment reference value on the basis of the traveling condition when there is the tendency of the lane deviation,
• to calculate a target yawing moment by correcting the target yawing moment reference value according to a rate of change of the state of the steering wheel with respect to time,
• to calculate a target brake hydraulic pressure according to the traveling condition and the target yawing moment,
• to calculate a target driving force according to the traveling condition and the target brake hydraulic pressure, and
• to output a first drive signal indicative of the target brake hydraulic pressure to the brake hydraulic pressure control circuit and a second drive signal indicative of the target driving force to the driving force control unit.

A method of executing a lane-keep control of a host-vehicle, comprising:

• detecting a traveling condition of the host-vehicle;
• determining that there is a tendency of a lane deviation that the host-vehicle is deviating from a traveling lane, on the basis of the traveling condition;
• calculating a driving/braking force controlled variable of each wheel according to the traveling condition so as to generate a yawing moment directed toward a direction of preventing the lane deviation when there is the tendency of the lane deviation;
• detecting a steering state quantity indicative of a quantity of state of a steering wheel;
• correcting the driving/braking force controlled variable on the basis of the steering state quantity;
• and
• controlling a driving/braking force of each wheel according to the driving/braking force controlled variable.

A lane-keep control system for a host-vehicle, comprising:

• traveling condition detecting means for detecting a traveling condition of the host-vehicle;
• deviation determining means for determining that there is a tendency of a lane deviation that the host-vehicle is deviating from a traveling lane, on the basis of the traveling condition;
• driving/braking force control quantity calculating means for calculating a driving/braking force controlled variable of each wheel according to the traveling condition so as to generate a yawing moment directed toward a direction of preventing the lane deviation when there is the tendency of the lane deviation;
• driving/braking force controlling means for controlling a driving/braking force of each wheel according to the driving/braking force controlled variable;
• and
• steering condition quantity detecting means for detecting a steering state quantity indicative of a quantity of state of a steering wheel;
• wherein the driving/braking control quantity calculating means comprises driving/braking force controlled-variable correcting means for correcting the driving/braking force controlled variable on the basis of the steering state quantity.