| 摘要 |
The invention provides an auxiliary carriageway keeping device which inhibits unnatural feeling of a driver if the driver relieves steering force when auxiliary carriageway keeping control is performed. According to the lateral displacement of a vehicle relative to a carriageway where the vehicle travels in, a turning reaction generated by turning reaction transmission device is calculated. Based on direction comparing result of the direction and turning direction of added reaction instruction value, according to the lateral displacement and turning speed, a correcting value of the instruction value reducing the reaction is calculated. |
