Patent ID: 10160482

Abstract:
A driving support control apparatus using an electric power steering mechanism that improves followability to a target track and safety of steering operation by adapting information of a steering torque to a driver's characteristic on the basis of conditions for enhancing predictability of a vehicle track. The driving support control apparatus includes: a SAT estimating section that estimates a self-aligning torque; a SAT transfer characteristic control section that corrects the self-aligning torque in order to make a time constant of a self-aligning torque transfer characteristic equal to a desired value, and compensates the steering torque; a disturbance sensitivity control section that suppresses a disturbance included by the self-aligning torque, and compensates the steering torque; and a vehicle characteristic compensation control section that compensates the steering torque in accordance with an actual steering angle so that a vehicle characteristic becomes a primary delay characteristic.