Patent ID: 7266436

Claim:
A lane-keep control system comprising: a traveling condition detector that detects a traveling condition of a vehicle; and a controller including: a steering intention detecting section configured to detect whether a driver has an intention to steer the vehicle; a first steering torque control section configured to control, when the driver has no intention to steer the vehicle, a steering torque according to the traveling condition so that the vehicle keeps a predetermined position between lane markings of a traveling lane; and a second steering torque control section configured to control, when the driver has an intention to steer the vehicle, a steering torque according to the traveling condition so that a steering operation of the driver is readily reflected in steering of the vehicle; further comprising a steering angle sensor configured to detect an actual steering angle, wherein the controller further includes a target steering angle calculating section that calculates a target steering angle necessary for the vehicle to keep the predetermined position between the lane markings, wherein the first steering torque control section is configured to control the steering torque such that the actual steering angle coincides with the target steering angle, and the second steering torque control section is configured to control the steering torque according to a steering angle deviation, wherein the steering angle deviation is a difference between the target steering angle and the actual steering angle; wherein the second steering torque control section is configured to control a steering torque control amount for increasing the steering torque such that the steering torque control amount increases with an increase of the steering angle deviation, wherein a rate of increase of the steering torque control amount decreases with an increase of the steering angle deviation.