| 摘要 |
An electronic control unit (36) receives a detection value from each sensor (S11), and determines a familiarity degree coefficient Nk_0 indicating the degree of driver's familiarity with steering characteristics, using the received detection values (S12). When the coefficient Nk_0 has a value near "0", a desired actual steering angle deltad is calculated to be a small value, and when the coefficient Nk_0 has a value near "1", a desired actual steering angle deltad is calculated to be a large value (S16). When the coefficient Nk O has a value near "0", a time constant tau of an actual steering actuator (21) is set to a large value, and when the coefficient Nk_0 has a value near "1", the time constant tau is set to a small value (S 7). A reaction torque Tz is determined based on the coefficient Nk_0 (S18).
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