| 摘要 |
PROBLEM TO BE SOLVED: To prevent the action of the excess steering restraint by releasing the steering restraint within a predetermined time from the time when the change velocity of the steering torque detected in the action of the steering restraint becomes less than a set value. SOLUTION: In the steering restraint control, the change velocity V of the detected steering torque is operated (S101). Then whether the change velocity V is less than a set value (a) or not is judged (S102). When it is less than the set value (a), it is judged that a driver is going to return a steering wheel in the direction opposite to the direction having the cause of the steering restraint. When the change velocity V of the steering torque is less than the set value (a), a set time is determined (5104). This determined time is shorter than the time necessary for the driver to return the steering wheel to a position free from the possibility of collision after the change velocity V of the steering torque becomes less than the set value (a). Then the steering restraint is released within the set time (S105). |
