Patent attributes
A vehicle drive assist apparatus for a vehicle includes a target yaw rate calculation unit that sets a target yaw rate to cause the vehicle to travel along a horizontal curve; a reference steering wheel angle calculation unit that sets a reference steering wheel angle; a feedforward target steering wheel angle calculation unit that sets a feedforward target steering wheel angle; an estimated yaw rate calculation unit that sets an estimated yaw rate based on a lateral force component exerted on the vehicle traveling on the curve; and a feedforward correction gain calculation unit that sets a feedforward correction gain based on the ratio between the target yaw rate and the estimated yaw rate. The feedforward target steering wheel angle calculation unit sets the feedforward target steering wheel angle in consideration of the lateral force component by correcting the reference steering wheel angle with the feedforward correction gain.
