| 摘要 |
<p>A vehicle 10 is provided with: an EPS a VGRS actuator 200 as a rudder angle varying device; and an EPS actuator 400 as a steering torque assisting device. In following a target driving route, a LKA target assist torque TLK is outputted from the EPS actuator 400 on the basis of target lateral acceleration GYTG. On the other hand, in order to suppress the steering of a steering wheel 11 by the assist torque, which is against a driver's will, steered wheels are steered by the VGRS actuator 200, excessively by a LKA correction target angle ¸LK. At this time, it does not influence a relation between a steering angle and the rotation angle of a lower steering shaft 13. Thus, the following for the target driving route is realized without reducing the robustness of the vehicle with respect to the driver's steering.</p> |
