LANE-KEEP SUPPORT APPARATUS

PROBLEM TO BE SOLVED: To further improve the function of lane-keep support.SOLUTION: A lane-keep support apparatus includes: lane form obtainment means for obtaining a form of a lane; lane-keep control means for performing computation on the basis of the form of the lane obtained by the lane form obtainment means and controlling a travel of a vehicle so as to keep the lane through feedback control using the computation result; centroid slip angle computation means for computing a centroid slip angle that is an angle formed by a progress direction of the vehicle and an orientation of a vehicular body; and correction means for correcting the computation result to be used for the feedback control by using the centroid slip angle computed by the centroid slip angle computation means.SELECTED DRAWING: Figure 7 【課題】車線維持支援の機能をより向上させること。【解決手段】車線維持支援装置は、車線の形状を取得する車線形状取得手段と、前記車線形状取得手段により取得する前記車線の形状に基づいて演算を行い、演算結果を用いたフィードバック制御により前記車線を維持するように車両の走行を制御する車線維持制御手段と、前記車両の進行方向と車体の向きとがなす角である重心スリップ角を演算する重心スリップ角演算手段と、前記重心スリップ角演算手段により演算した重心スリップ角を用いて前記フィードバック制御に用いる演算結果を補正する補正手段と、を備える。【選択図】図７