Lane following vehicle control

摘要

In accordance with a vehicle running condition ( PHI , y, rho ) along a lane and an actual steering angle (&thetas;), a control unit (10) determines a target steering angle (&thetas;*) to follow the lane, and controls an actual steering torque with an actuator (13, 16) to a target steering torque (iM) to achieve the target steering angle. The control unit limits the target steering torque by setting a target torque limit (iL) determined in dependence on whether the control steering direction is a steer direction away from a straight ahead neutral position or a return direction toward the straight ahead neutral position, to take account of a self aligning torque.