STEERING CONTROL DEVICE FOR VEHICLE

摘要

PROBLEM TO BE SOLVED: To perform steering control to make a local vehicle track a target route with high stability.SOLUTION: A steering control input for manipulating a steering quantity o f steering wheels 2f, 2f so as to track a target route is sequentially determined by combining together a first manipulated variable component calculated using observed values of a plurality of observation object state quantities varying in value according to steering and the value of a first gain parameter determined based upon map data according to an observed value of a traveling speed of a local vehicle 1, and a second manipulated variable component calculated using a future target position of the local vehicle 1 in the target route and the value of a second gain parameter determined based upon the map data according to the traveling speed of the local vehicle 1.