DRIVING CONTROL DEVICE Russian patent published in 2016 - IPC B62D6/00 B62D5/04 

FIELD: transportation.

SUBSTANCE: when the vehicle approaches either the left or the right signal line road marking is calculated offset value of torque reaction force in the steering operation. Reaction force increases as reducing the distance between the vehicle and the signal line road markings. Upon application of the reaction force in the steering operation to the modulo steering based on the offset torque reaction force in the steering operation, if it is determined that it can not be detected by the left or right signal line road marking and a gradient of increasing amount of shift torque reaction force in the steering operation becomes or less than the predetermined gradient larger, the amount of offset torque reaction force when the steering operation is restricted.

EFFECT: achieved a reduction of discomfort caused by the driver.

8 cl, 24 dwg