Patent ID: 7894956

Claim:
A vehicle steering control device, comprising: a traffic lane recognition means which recognizes a traffic lane of a vehicle; a positional deviation calculation means which calculates a displacement of a vehicle position from a target position of the traffic lane as a positional deviation based on a recognition result of the traffic lane obtained by the traffic lane recognition means; an actuator which drives a steering mechanism that can steer steering wheels of the vehicle; a position correction controlled variable calculation means which calculates a position correction controlled variable which is a controlled variable of the actuator for use in decreasing the positional deviation by using an integral controlled variable calculated by an integration of the positional deviation; an actuator controlled variable determination means which determines a target controlled variable of the actuator by using the position correction controlled variable; and an integral element determination means which performs at least one of an integral gain determination process of determining an integral gain by which the positional deviation is multiplied in the integration according to the positional deviation and an integral controlled variable limiting process of limiting the integral controlled variable to within a predetermined range set according to the positional deviation.