| 摘要 |
PROBLEM TO BE SOLVED: To prevent the assist of steering torque required by an automatic steering control device from interfering with steering of a driver and to perform a steering control reflecting a will of the driver appropriately. SOLUTION: In an SAS control mode in which a vehicle is controlled to travel along a travel division line on a road by an SAS control device 23, when the driver inputs steering torque larger than predetermined torque #Tq via a steering wheel 11, the device 23 makes a torque command to be inputted into an EPS control device 24 to be zero. When a state that the torque command inputted from the device 24 to the device 23 is other than zero continues for a longer period than a predetermined period, the device 23 is determined to be in an abnormal state, the SAS control mode is switched to an EPS control mode, and a motor drive current for outputting the assist amount of the steering torque to a motor 20 according to a traveling state of the vehicle is output. |
