VEHICULAR STEERING CONTROL SYSTEM

摘要

PROBLEM TO BE SOLVED: To provide a vehicular steering control system that can make an appropriate steering intervention determination that costs less and influences a steering feeling less than a determination using a torque sensor and that gives less sense of steering discomfort to a driver than a steering intervention determination based on a steering angle deviation and a steering angular velocity deviation. SOLUTION: A current-estimated yaw rate value dϕ- I is computed from a motor supply current iM to an automatic steering motor 16, and an actual vehicle yaw rate value dϕ- r is computed from vehicle travel state information from a camera controller 26 for processing image data. If the absolute value|dϕ- r-dϕ- i|of a yaw rate deviation between them exceeds a steering intervention determination threshold value Th, a steering intervention by a driver is determined.