| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To obtain a necessary assist torque when operation of avoiding an obstacle is carried out, while minimizing the incompatible feeling of a driver due to the assist torque of an operation assisting device for a vehicle. <P>SOLUTION: When a collision avoiding operation determining means M2 determines collision avoiding operation by a driver, an avoiding momentum calculating means M4 calculates avoiding momentum required by a vehicle for avoiding an obstacle. A target assist current is corrected by the avoiding momentum. In case where an absolute value of a yaw rate deviation is not more than a threshold value and a vehicular behavior is stable, a correcting coefficient calculating means M8 reduces the target assist current, so that the incompatible feeling of the driver due to excessive assist can be resolved. The reducing amount of the target assist current when the collision avoiding operation by the driver is determined, is set to be smaller than that when not determined, so that the target assist current is made hard to be reduced in an emergency when the collision avoiding operation has been carried out, thereby certainly avoiding the obstacle. <P>COPYRIGHT: (C)2007,JPO&INPIT</p> |
