| 摘要 |
The present invention comprises: a steering unit 1 that receives steering input from a driver and that is mechanically separated from a turning unit 2 that turns left and a right front wheels 5FL, 5FR; a steering reaction force control unit 20 that sets a steering reaction force characteristic to coordinates, of which the coordinate axes are the self-aligning torque and the steering reaction force, so that the self-aligning torque increases as the steering reaction force increases, and the control unit applies the steering reaction force to the steering unit 1 based on the steering reaction force characteristic; a curvature calculation unit 34a that detects the curvature of a white line; a limiter processing unit 34e that calculates an offset amount that increases as the detected curvature increases and calculates a lateral force offset amount that limits the change amount of the offset amount in a normal limiter 342; a lateral force offset unit 34 that offsets the steering reaction force characteristic at the coordinates in the same coding direction as the self-aligning torque only by the lateral force offset amount; a steering reaction force torque offset unit 36 that applies a steering reaction force that increases as the distance to the white line decreases to the steering unit 1; and a previous value reading unit 346 that suppresses an increase in the lateral force offset amount when a steering torque is opposite of the curve direction of the detected curvature and a determination is made that a hands-off state exists. |
