| 摘要 |
<p>PROBLEM TO BE SOLVED: To facilitate the steering operation by a driver in avoiding an obstacle while securing the straight driving performance of a vehicle on a straight road. SOLUTION: In generating the steering reaction corresponding to the gain sum Kγ+Kβin a steering actuator 7 by subtracting the sum Kγ+Kβof the gain Kγof the basic steering reaction determined based on the yaw rateγand the vehicle speed (v) and the gain Kβof the steering reaction correction determined based on the steering speedβand the vehicle speed (v) from the gain Kp of the assist force to be outputted by a power steering control part 22, the correction factor (f) which is smaller than 0.1 is calculated based on the collision estimation time (t) with an obstacle detected by a collision possibility detecting device 24, and the steering reaction in avoiding the obstacle is reduced by multiplying the correction factor (f) by the gain sum Kγ+Kβto facilitate the steering operation.</p> |
