| 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) (the turnable wheels); 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 curvature of a white line; a lateral force offset unit 34 (an offset means) that calculates an offset amount that increases as the detected curvature increases and that offsets the steering reaction force characteristic at the coordinates only by the offset amount in the same coding direction as the self-aligning torque; a lateral acceleration inference unit 342 (a lateral acceleration detection means) that detects the lateral acceleration of a vehicle; and a limiter processing unit 34e (an offset suppression means) that suppresses an increase in the lateral force offset amount more as the absolute value of the detected lateral acceleration G increases. |
