| 摘要 |
The present invention comprises: a steering unit (1) which receives steering input from a driver, said input being mechanically detached from a turning unit (2) which turns a left and a right front wheel (5FL, 5FR); a steering reaction force control unit (20) which sets a steering reaction force characteristic to coordinates, of which the coordinate axes are self-aligning torque and the steering reaction force, so that the greater the self-aligning torque, the greater the steering reaction force, and said control unit applies the steering reaction force to the steering unit (1) on the basis of the steering reaction force characteristic; a curvature calculation unit (34a) which detects curvature of a white line; a limiter processing unit (34e) which calculates an offset amount that is greater the greater the detected curvature, and which calculates a lateral force offset amount that is a variation amount, controlled in a normal limiter (342), of the offset amount; a lateral force offset unit (34) which offsets the steering reaction force characteristic at the coordinates only by the lateral force offset amount in the same coding direction as the self-aligning torque; a steering reaction force torque offset unit (36) that applies to the steering unit (1) the steering reaction force which is greater the shorter the distance to the white line; and a previous value reading unit (346) which suppresses an increase in the lateral force offset amount when steering torque opposite to a curve direction of the detected curvature has been detected, if a hands-off state is determined. |
