| 摘要 |
<p>PROBLEM TO BE SOLVED: To give no sense of incompatibility to a driver when the driver performs a steering operation during automatic steering control by controlling the drive of an actuator so that the steering torque added to a steering wheel by the driver never exceeds a first steering torque. SOLUTION: When a driver voluntarily operates a steering wheel 1 during automatic steering control, and the steering torque T detected by a steering torque detecting means S2 reaches a first steering torque T1 larger than a second steering torque T2 , a steering actuator 7 is operated to assist the steering operation of the driver so that the steering torque T never exceeds the first steering torque T1 . When the steering torque T exceeding the second steering torque T2 is detected over a prescribed time Ts or more, execution of steering operation is judged to interrupt the automatic steering control. Accordingly, the state where the steering wheel 1 becomes abnormally heavy can be avoided.</p> |
