Abstract: Disclosed is control technologies related to lane keeping and lane change including a lane keeping control system, a lane change control system and a vehicle control system, which automatically suppress lane change to ensure safe lane change even if a driver fails to hear a warning sound or see a warning screen and does not recognize a situation in which lane change is dangerous.

Abstract: Disclosed are a lane-keeping control system and method. The lane-keeping control system includes: an information acquiring device for acquiring lane information for a neighboring lane, and neighboring vehicle information for a neighboring vehicle in a lane neighboring with a lane in which a lane-keeping controlled vehicle is running; an electronic control device for setting a running track of the lane-keeping controlled vehicle in the lane-keeping controlled vehicle's lane on the basis of the acquired lane information and the neighboring vehicle information, the electronic device producing steering torque maps along the running track, and calculating steering overlay torque values from the produced steering torque maps; and a steering device for performing steering torque control in accordance with the steering overlay torque values calculated by the electronic control device.

Abstract: A method of estimating a mass of a vehicle. If a yaw rate is smaller than a reference value, a straight direction model algorithm is applied to obtain an estimated mass. If a measured speed and a measured steering angle are larger than reference values, a lateral direction model algorithm is applied to obtain another estimated mass. If a measured vertical acceleration is larger than a reference value, a vertical direction model algorithm is applied to obtain yet another estimated mass. If each of the estimated masses is in an allowable range, and is constant for a given time period, the masses are applied to a recursive least square method, thereby estimating the mass of the vehicle.

Abstract: A method of estimating a mass of a vehicle. If a yaw rate is smaller than a reference value, a straight direction model algorithm is applied. If a measured speed and a measured steering angle are larger than reference values, a lateral direction model algorithm is applied. If a measured vertical acceleration is larger than a reference value, a vertical direction model algorithm is applied. If each of the estimated masses is in an allowable range, and is constant for a given time period, the masses are applied to a recursive least square method, thereby estimating the mass of the vehicle.