| 摘要 |
If a vehicle approaches either of a left or a right white line, the present invention calculates a steering reaction force torque offset amount which is greater the shorter the distance between the vehicle and the white line in question. While applying a steering reaction force to a steering unit (1), which receives steering input from a driver, on the basis of the steering reaction force torque offset amount, if it is determined that the other left or right white line cannot be detected, when 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 controlled. |
