| 主权项 |
1. A steering assist device, comprising:
an electric motor that applies a steering driving force to a steering operation mechanism of a vehicle; an information obtaining unit that obtains a lateral deviation of the vehicle from a target travel line, a lateral deviation change rate, or a rate of change in the lateral deviation per unit time, and curvature of the target travel line; a steering assist current value setting unit that sets a steering assist current value corresponding to a target value of steering assist torque; a main lane keep assist current value setting unit that sets a main lane keep assist current value that generates main lane keep assist torque according to the lateral deviation and the lateral deviation change rate, based on the lateral deviation and the lateral deviation change rate obtained by the information obtaining unit; a sub lane keep assist current value setting unit that sets a sub lane keep assist current value that generates sub lane keep assist torque according to the curvature, based on the curvature obtained by the information obtaining unit; a target current value calculation unit that calculates a target current value by using the steering assist current value set by the steering assist current value setting unit, the main lane keep assist current value set by the main lane keep assist current value setting unit, and the sub lane keep assist current value set by the sub lane keep assist current value setting unit; and a control unit that drivingly controls the electric motor based on the target current value calculated by the target current value calculation unit. |
