| 摘要 |
PROBLEM TO BE SOLVED: To prevent or suppress fatigue of a driver while improving a lane keeping function.SOLUTION: Lane keeping assist torque, in a direction for preventing an own vehicle from being departed from a traveling lane, is provided in magnitude of a range where a driver can overcome the assist torque. Viscous torque TViscosity, determined on the basis of at least steering angle speed, is subtracted from basic lane keeping assist torque TBase, then, final lane keeping assist torque TLKA is obtained. |
