| 摘要 |
Upon controlling the turning angle of the front wheels 5L, 5R which are mechanically detached from the steering wheel 6, the turning angle of the front wheels 5L, 5R is controlled based on the SBW command turning angle corresponding to the steering angle of the steering wheel 6 when a lane deviation is determined to be absent, and the turning angle is controlled based on an LDP command turning angle for generating a yaw moment in a direction to return the vehicle into the lane while controlling the steering reaction force based on the steering angle without reflecting the LDP command turning angle on the steering reaction force that is applied to the steering wheel 6, when a lane deviation is determined to be present. |
