Patent ID: 8825297

Claim:
An electronic control unit for a vehicle, the electronic control unit programmed to: alter a relationship between an amount of steering operation of a driver of the vehicle and a steering angle of steerable wheels of the vehicle without actuating a steering input unit which is operated by the driver, calculate a first target control level that controls a travel trajectory of the vehicle, control the travel trajectory of the vehicle by controlling the steering angle of said steerable wheels on the basis of the first target control level, determine a target turning behavior control level which causes a turning behavior of the vehicle to obtain a target turning behavior, control the turning behavior of the vehicle on the basis of said target turning behavior control level, calculate a target steering angle of the steerable wheels on the basis of a second target control level which is based on the amount of steering operation provided to the steering input unit by the driver and the first target control level, and calculate the target turning behavior control level on the basis of the target steering angle of the steerable wheels.