Patent ID: 6178365
Filing Date: 2001-01-23
Classification: B60T,B62D

Abstract:
A system for controlling steering of a vehicle, comprising:steering means having an actuator which steers driven wheels of the vehicle;first steering control means for controlling the actuator;first detecting means for detecting a lane condition of a road on which the vehicle travels;second detecting means for detecting motion of the vehicle;steering assist torque calculating means for calculating a steering assist torque necessary for holding a positional relationship between the vehicle and the lane condition;torque detecting means for detecting a steering torque manually applied to the steering means by the driver;second steering control means for calculating a torque command to be output to the first steering control means based on the steering assist torque calculated by the steering assist torque calculating means and the detected steering torque to control the actuator such that the torque command decreases; andswitching means for switching between the mode of control by the first steering control means and the mode of control by the second steering control means gradually with respect to time.