| 摘要 |
PROBLEM TO BE SOLVED: To provide a steering control device capable of reducing discomfort following to reaction force fluctuation after lane change.SOLUTION: When a steering reaction force control amount in which steering reaction force in a direction separating from a white line becomes larger as a lateral position of a self vehicle on a lane where the vehicle is currently traveling is closer to the white line, is calculated for applying it to a reaction force motor 8, in the case where it is determined that lane change of the self vehicle is performed, a steering reaction force control amount for shifting to a steering reaction force control amount based on the white line of the lane where the vehicle is currently traveling from a steering reaction force control amount based on the white line of a lane where the vehicle was traveling before lane change, is calculated. Upper limit of change speed of the steering reaction force control amount is controlled to speed which does not give discomfort due to reaction force losing to a driver, and when a direction of the steering reaction force by the steering reaction force control amount is inverted, change speed limitation is increased. |
