| 摘要 |
<p>The present invention comprises: a steering unit (1) which receives steering input from a driver, said input being mechanically detached from a turning unit (2) which turns a left and a right front wheel (5FL, 5FR) (turning wheels); a steering reaction force control unit (20) which sets a steering reaction force characteristic to coordinates, of which the coordinate axes are self-aligning torque and the steering reaction force, so that the greater the self-aligning torque, the greater the steering reaction force, and said control unit applies the steering reaction force to the steering unit (1) on the basis of the steering reaction force characteristic; a curvature calculation unit (34a) which calculates curvature of a white line; a lateral force offset unit (34) (offset means) which calculates an offset amount that is greater the greater the detected curvature, and which 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 steering torque inference unit (341) (opposite side steering torque detection means) which detects steering torque at the opposite side of a curve direction of the detected curvature; a limiter processing unit (34e) (offset amount reduction means) which reduces the lateral force offset amount as the steering torque at the opposite side of the curve direction of the detected curvature increases.</p> |
