The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Jan. 21, 2020
Filed:
Jun. 22, 2016
Denso Corporation, Kariya, Aichi-pref., JP;
Junpei Tatsukawa, Kariya, JP;
DENSO CORPORATION, Kariya, Aichi-pref., JP;
Abstract
According to a lane keep assist electronic control unit (LKAECU), a lane recognition section recognizes a driving lane in which the own vehicle is traveling. A target trajectory generation section generates a target trajectory in which the own vehicle travels so that deviation of the own vehicle from the driving lane is suppressed. A feedforward steering angle calculation section, a feedback steering angle calculation section, a first adder, a feedforward torque calculation section, and a feedback torque calculation section calculate a demanded torque τtgt for controlling steering of the own vehicle so that the own vehicle travels along the target trajectory. When a direction of travel of the own vehicle is a direction deviating from the driving lane and the demanded torque τtgt causes steering of the own vehicle in the direction deviating from the driving lane, an output control section sets the demanded torque τtgt to a value which does not cause steering of the own vehicle in the direction deviating from the driving lane.