Vehicle running control apparatus
A vehicle driving control apparatus is provided at least with: a rudder angle varying device capable of changing a relation between a steering angle, which is a rotation angle of a steering input shaft, and a rudder angle, which is a rotation angle of steered wheels; and a trajectory controlling device for controlling the rudder angle varying device such that a trajectory of a vehicle approaches a target driving route of the vehicle. The vehicle driving control apparatus is further provided with a changing device for changing responsiveness of control by the trajectory controlling device when there is a steering input given to the steering input shaft through a steering wheel by a driver of the vehicle.
1. A vehicle driving control apparatus comprising:
a rudder angle varying device capable of changing a relation between a steering angle, which is a rotation angle of a steering input shaft, and a rudder angle, which is a rotation angle of steered wheels; and
a trajectory controlling device for controlling said rudder angle varying device such that a trajectory of a vehicle approaches a target driving route of the vehicle,
said vehicle driving control apparatus comprising:
a changing device for changing time responsiveness of control by said trajectory controlling device when there is a steering input given to the steering input shaft through a steering wheel by a driver of the vehicle.
2. The vehicle driving control apparatus according to claim 1 , wherein said changing device changes the time responsiveness in accordance with a steering speed of the steering input.
3. The vehicle driving control apparatus according to claim 1 , wherein said changing device varies a change amount of the time responsiveness in accordance with whether or not a steering direction of the steering input matches a rudder angle control direction of the control by said trajectory controlling device.