In a state where steering required torque is outputted (S1: YES), the steering required torque is canceled (S12) based on the fact that a state of driver torque being inputted has continued (S11: YES). A cancellation delay time, which represents the length of time from when the driver torque is inputted until the steering required torque is canceled, is set to be shorter when the driver torque is higher than or equal to a timer-ON threshold 2 than when the driver torque is between a timer-ON threshold 1 and the timer-ON threshold 2. Consequently, in the case where a steering wheel is quickly turned by a driver and thus high torque is inputted to the steering wheel, control torque will be canceled in a short time and thus steering will be performed in quick response to the steering wheel operation of the driver. As a result, an uncomfortable feeling caused to the driver will be suppressed.
LANE KEEPING ASSIST APPARATUS
23.06.2016
Patent
Elektronische Ressource
Englisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |