| 摘要 |
When a host vehicle approaches either a left or a right white line, a steering reaction force torque offset amount that increases as the distance between the host vehicle and the white line decreases is calculated; when applying a steering reaction force to the steering unit 1 that receives steering input from the driver based on the steering reaction force torque offset amount, if a determination has been made that the other among the left and right white lines cannot be detected and an increase gradient of the steering reaction force torque offset amount becomes equal to or less than a predetermined increase gradient, the steering reaction force torque offset amount is limited. |
