| 摘要 |
When a steering reaction force actuator for imparting steering reaction force to a steering unit is controlled based on a steering reaction force control amount in which the steering reaction force increases in the direction in which the lateral position of a host vehicle moves away from a white line in commensurate proximity to the white line, and when a turning actuator for imparting turning torque to a turning part mechanically separated from the steering unit is controlled based on a turning control amount in which the turning amount increases in the direction in which the lateral position of a host vehicle moves away from the white line in commensurate proximity to the white line, the steering reaction force control amount of reaction force suppression processing for reducing the steering reaction force control amount is computed when a state in which the steering reaction force control amount has been at a predetermined threshold value or higher for a predetermined length of time, and the reaction force suppression processing is carried out for controlling the steering reaction force actuator based on the steering reaction force control amount of reaction force suppression processing in lieu of the steering reaction force control amount, and meanwhile, the turning amount is maintained at the value occurring at the starting time point of the reaction force suppression processing when the reaction force suppression processing has started. |
