| 摘要 |
PURPOSE: To control the steering so that a vehicle can surely pass a curve. CONSTITUTION: The azimuth angle varying amountθof a road during a period where a vehicle travels a forward road for a timeδt is calculated based on road data obtained by a navigation system and a vehicle speed obtained by a vehicle speed sensor (S3). On the other hand, a yaw rate dγ/dt obtained from a yaw rate sensor is integrated over the timeδt, and the azimuth angle varying amountγof the vehicle is calculated (S5). A deviation D of the amountθof the road and the amountγof the vehicle is calculated (S6), and when the deviation D becomes a reference valueβor more, it is judged that the vehicle might deviate from the road (S9), and a predetermined steering torque is added to a steering system so that the deviation D is converged to zero (S10, S11).
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