| 摘要 |
PROBLEM TO BE SOLVED: To switch reaction control according to an increase or decrease in steering input, in a vehicle using a steer-by-wire system.SOLUTION: In a vehicle in which a steering wheel that receives steering input from a driver and a turning wheel that changes the direction of a vehicle are mechanically separated, steering reaction torque corresponding to a traveling state of the vehicle is applied to the steering wheel, thereby exerting vehicular lane sustentation control. At this time, as processing for obtaining a steering reaction torque corresponding to a traveling state of the vehicle, first processing for obtaining steering reaction torque when the vehicle approaches a direction in which the vehicle deviates from a lane and second processing in which steering reaction torque is obtained when the vehicle approaches a direction in which the vehicle avoids deviation from a lane, can separately be performed. In addition, when the traveling state of the vehicle are identical, steering reaction torque obtained by the first processing is greater than steering reaction torque obtained by the second processing.SELECTED DRAWING: Figure 15 |
