| 摘要 |
PROBLEM TO BE SOLVED: To release the steering restraint only by the resistance of a driver to the steering restraint, by reducing the restraint of the steering to the extent to increase the resistance corresponding value corresponding to the extent that the resistance of the driver to the steering restraint is increased, and making the same zero when the resistance corresponding value becomes a set value. SOLUTION: When it is judged that the steering is for the change of a lane, the restraint of the steering is performed (S11). Then the existence of the resistance of a driver to the steering restraint is judged (S12). When the resistance of the driver to the steering restraint exists, a value corresponding to the time integral value from the start of the steering restraint of the resistance force of the driver is determined as a value corresponding to the degree of the resistance of the driver to the steering restraint (S13). The restraint of the steering is reduced to the extent to increase the resistance corresponding value (S14). Then whether the resistance corresponding value becomes a set value Y or not is judged (S15). When the resistance corresponding value is higher than the set value Y, the steering restraint is made zero (S16). |
