| 摘要 |
PROBLEM TO BE SOLVED: To always provide a proper assist amount to steering torque by providing an operating condition detector means to detect the operating conditions of a vehicle such as the degree of awakeness of an operator and operation skill of the operator and controlling a steering control means based on the detected operating conditions. SOLUTION: A steering unit of a vehicle is provided with a first means including a CCD camera 64 which detects the condition of a road lane in a vehicle traveling direction and a second means including a yaw rate sensor 82 which detects the operating condition of the vehicle. In an ECU into which these output signals are input, a steering force necessary to maintain the positional relation of the vehicle relative to the lane condition in the vehicle traveling direction so as to controllably steer a steering means 14. Also, to know the awakeness of an operator, it is judged based on an output from a pressure sensitive sensor 84 whether an operator grasps a steering wheel 14 or not. In addition, a difference per unit time between a target locus and an actual locus is obtained for judgment. Based on the judgment results, assist torque is obtained and output. |
