| 摘要 |
[Problem] To provide a driving assistance control device using an electric power steering mechanism that, by adapting steering torque information to driver characteristics on the basis of conditions that improve the predictability of the trajectory of a vehicle, improves trackability with respect to a target trajectory and improves the safety of a steering operation. [Solution] The present invention is provided with: a self-aligning torque (SAT) estimation unit that estimates self-aligning torque; a SAT transmission characteristics control unit that corrects the self-aligning torque in order to bring a time constant of self-aligning torque transmission characteristics to a desired value, and that compensates for steering torque; a disturbance sensitivity control unit that suppresses disturbances included in the self-aligning torque and compensates for steering torque; and a vehicle characteristics compensation control unit that compensates for steering torque on the basis of the actual steering angle so that vehicle characteristics will be primary delay characteristics. |
