Driving support device for vehicle and vehicle driving support method

A driving support device for a vehicle comprising:

• an assist control unit, performed by a microcomputer, that generates an assist command for generating an assist torque for reducing a steering load according to a steering torque generated by a driver's steering operation;
• a tracking control unit, performed by a microcomputer, that acquires a target value of a physical quantity related to steering of the vehicle and generates a tracking command for generating an automatic steering torque that causes a detected value of the physical quantity to track the target value;
• an intervention detecting unit, performed by a microcomputer, that detects that the driver has intervened, by the steering operation, in a tracking process being performed by the tracking control unit;
• a tracking limiting unit, performed by a microcomputer, that limits the tracking process so as to enable the steering of the vehicle by the steering operation by the driver in response to the intervention detecting unit detecting that the driver has intervened in the tracking process;
• a steering force correcting unit, performed by a microcomputer, that generates a correction command for correcting a steering force so that the difference in the steering reaction force is reduced between a situation where the steering operation by the driver is an steering-increase operation for increasing a steering angle and a situation where the steering operation is a steering-decrease operation for decreasing the steering angle in response to the intervention detecting unit detecting that the driver has intervened in the tracking process;
• and
• a motor drive circuit that drives a motor that generates the assist torque and the automatic steering torque based on the assist command, the tracking command, and the correction command.