| 摘要 |
PROBLEM TO BE SOLVED: To provide a drive assisting device that restricts increases in vehicle wheel consumption and actuator power consumption and, at the same time, makes it easy to reduce the number of times that the direction of a vehicle is changed.SOLUTION: A drive assisting device according to the present invention comprises a steering control part that controls a steering angle such that, when a state of vehicle switches from a first state, which is either one of a forward moving state and a backward moving state, to a second state, which is the other of the forward moving state and a backward moving state, and when a steering angle for a vehicle wheel is changed from a first steering angle, which is one side in a neutral position, to a second steering angle, which is the other side of the neutral position, the steering angle changes from the first steering angle to the second steering angle before a state of vehicle comes into the second state, and such that when a state of the vehicle is in the second state, the steering angle changes to the second steering angle from a third steering angle between the first and second steering angles.SELECTED DRAWING: Figure 7 |
