STEERING DEVICE FOR VEHICLE

摘要

PROBLEM TO BE SOLVED: To prevent a sense of incongruity from being given to a driver in tracing a running line. SOLUTION: In this steering device, a clockwise control gain KR1 and a counter-clockwise control gain KL1 are set from the control gain map of a right side vehicle relative lateral position dyR (S9). A clockwise control gain KR2 and a counter-clockwise control gain KL2 are set from the control gain map of a left side vehicle relative lateral position dyL (S10). A clockwise correction factorα1 and a counter-clockwise correction factorβ1 are set from the correction map of a right side vehicle relative lateral speedΔdyR (S11). A clockwise correction factorα2 and a counter-clockwise correction factorβ2 are set from the correction map of a left side vehicle relative lateral speedΔdyL (S11).