| 摘要 |
The present invention prevents a vehicle in a low-speed region from deviating from a driving lane and prevents the vehicle wandering in the direction of travel. Specifically, a lane maintaining assistance device assists a vehicle, in which a steering wheel provided in the vehicle and a turning wheel for turning the vehicle are mechanically separated, to travel within driving lanes. The lane maintaining assistance device controls the turning angle of the turning wheel using a first turning angle calculated so as to cause the vehicle to travel in the driving lane and a second turning angle corresponding to the steering amount of the steering wheel, and detects the vehicle speed of the vehicle. The lane maintaining assistance device calculates a first reaction force command value corresponding to the first turning angle and a second reaction force command value corresponding to the second turning angle. The lane maintaining assistance device controls the steering reaction force to be imparted to the steering wheel so that the steering reaction force corresponds only to the second reaction force command value when the vehicle speed is higher than a predetermined threshold value, and controls the steering reaction force to be imparted to the steering wheel so that the steering reaction force corresponds to the first reaction force command value and the second reaction force command value when the vehicle speed is at the predetermined threshold value or less. |
