Patent ID: 8118126

Claim:
A steering assist system comprising: a roadway acquisition module that acquires a shape of a roadway on which a vehicle is moving; a target moving state determining module that determines a target moving state for the vehicle based on the shape of the roadway; an actual moving state acquisition module that acquires an actual moving state of the vehicle; a time-dependent steering control amount acquisition module that acquires a time-dependent steering control amount, the time-dependent steering control amount being a steering control amount based on which a steering torque to be applied to the vehicle is determined and which depends on time, and the time-dependent steering control amount increases as a time period over which the actual moving state deviates from the target moving state increases, in order to reduce the deviation between the actual moving state and the target moving state; a time-independent steering control amount acquisition module that acquires a time-independent steering control amount, the time-independent steering control amount being a steering control amount based on which a steering torque to be applied to the vehicle is determined and which does not depend on time, in order to reduce the deviation between the actual moving state and the target moving state; a steering torque application module that applies a steering torque based on the time-dependent steering control amount and the time-independent steering control amount; a driving operation detection module that detects a predetermined driving operation by a driver; and a control module that reduces an influence of the time-dependent steering control amount on the steering torque to be applied when the predetermined driving operation by the driver is detected, while maintaining an influence of the time-independent steering control amount on the steering torque.