Patent attributes
A control unit functionally comprises a first steering-torque application control part which commands a steering actuator of a vehicle to execute application of a steering torque determined by a first steering characteristic CH1 and a second steering-torque application control part which commands the steering actuator of the vehicle to execute application of a steering torque determined by a second steering characteristic CH2. In a case where the vehicle travels at a curved portion of the lane, the first steering characteristic CH1 is set such that a first steering-force increase part L1 is located further toward an allowed right-end point EGR as a vehicle speed becomes higher and the second steering characteristic CH2 is set such that a magnitude of a torque maintenance part L4 becomes lower as a radius of curvature of the curved portion of the lane becomes smaller, like CH2H-CH2L.
