| 摘要 |
PROBLEM TO BE SOLVED: To provide a steering control device capable of reducing a steering load for a driver correcting steering to bring a vehicle strayed toward an edge of a lane back to the center thereof.SOLUTION: A steering control device includes: a steering part 1 for receiving a steering input from a driver; a turn-steering part 2, mechanically separated from the steering part 1, for turn-steering left and right front wheels 5FL, 5FR; a steering-reaction force control part 20 for controlling steering-reaction force to be given to the steering part 1 on the basis of a steering-reaction force characteristics corresponding to self-aligning torque; a lateral position calculation part for calculating an integral value of a yaw angle that is an angle formed by a white line and a vehicle-itself travel direction; a steering-reaction force torque offset part for calculating an offset amount that increases with a yaw angle integral value, and offsetting the steering-reaction force characteristics toward the same sign direction as a sign of the yaw angle integral value; and a controller for inverting the sign of the yaw angle integral value when the value is a predetermined value indicating that the vehicle reaches the white lane. |
