Patent ID: 8676441

Claim:
A steering assist device for calculating a steering target value based on a shape of a traveling path on which a vehicle travels, and assisting steering according to said steering target value, comprising: a controller that is configured to: determine whether or not the vehicle is traveling a curve entrance of said traveling path; and calculate the steering target value using a curvature value of the traveling path calculated where a noise reduction function of a filter to reduce noise of the curvature value is relaxed when it is determined that the vehicle is traveling the curve entrance of the traveling path, wherein the curve entrance is determined to exist upon an initial determination that an absolute value of a filtered curve curvature value is greater than or equal to an absolute value of a previous value of the filtered curve curvature value and that a curvature direction of a current curve curvature value and that of a previous curve curvature value are the same; and a steering unit that is configured to operate based on the steering target value.