US 12,466,476 B2
Vehicle lane keep control apparatus
Shuhei Dairokuno, Tokyo (JP); Hiroaki Kuramochi, Tokyo (JP); Satoshi Nakano, Tokyo (JP); Masashi Okano, Tokyo (JP); Motohiro Hidaka, Tokyo (JP); Tatsuro Suzuki, Tokyo (JP); and Katsuyuki Umezawa, Tokyo (JP)
Assigned to SUBARU CORPORATION, Tokyo (JP)
Filed by SUBARU CORPORATION, Tokyo (JP)
Filed on Mar. 10, 2023, as Appl. No. 18/182,008.
Claims priority of application No. 2022-059609 (JP), filed on Mar. 31, 2022.
Prior Publication US 2023/0311979 A1, Oct. 5, 2023
Int. Cl. B62D 6/00 (2006.01); B60W 30/10 (2006.01); B60W 30/12 (2020.01); B62D 5/04 (2006.01); B62D 15/02 (2006.01); B60W 30/14 (2006.01)
CPC B62D 6/003 (2013.01) [B60W 30/10 (2013.01); B62D 5/046 (2013.01); B62D 15/025 (2013.01); B60W 30/12 (2013.01); B60W 30/14 (2013.01); B60W 30/143 (2013.01); B60W 30/146 (2013.01)] 6 Claims
OG exemplary drawing
 
1. A vehicle lane keep control apparatus comprising a steering control processor configured to, upon detection of a skid of a vehicle during control that includes setting a target route on which the vehicle is to travel, calculating a control amount for an electric power steering motor of the vehicle based on at least an amount of shifting from the target route, and causing the vehicle to travel along the target route, switch modes from a lane keeping mode to a slip-handling mode, perform a steering control to allow the vehicle to have a stable attitude, and restart the lane keeping mode.