Driver assistance apparatus for vehicle

A driver assistance apparatus for a vehicle, the driver assistance apparatus comprising:

• a steering angle detector configured to detect a steering angle of the vehicle;
• a vehicle speed detector configured to detect a vehicle speed of the vehicle;
• a traveling environment recognizer configured to recognize a traveling environment in front of the vehicle;
• a steering driver configured to steer left and right steered wheels of the vehicle;
• a steering assistance controller configured to output a steering angle instruction value to the steering driver and allow the vehicle to travel in accordance with a lane curvature recognized by the traveling environment recognizer;
• and
• a neutral point learning calculator configured to set a neutral point learning correction value by which a neutral point of the steering angle instruction value is to be corrected, the steering angle instruction value being to be outputted from the steering assistance controller, wherein
• the neutral point learning calculator comprises
• a first estimated lateral acceleration calculator configured to calculate a first estimated lateral acceleration that is to act on the vehicle, based on the steering angle and the vehicle speed detected by the vehicle speed detector,
• a second estimated lateral acceleration calculator configured to calculate a second estimated lateral acceleration that is to act on the vehicle, based on the vehicle speed detected by the vehicle speed detector and the lane curvature recognized by the traveling environment recognizer,
• a lateral acceleration difference calculator configured to calculate a lateral acceleration difference, based on a difference between the first estimated lateral acceleration calculated by the first estimated lateral acceleration calculator and the second estimated lateral acceleration calculated by the second estimated lateral acceleration calculator,
• a steering angle difference calculator configured to calculate a steering angle difference, based on the lateral acceleration difference calculated by the lateral acceleration difference calculator and the vehicle speed detected by the vehicle speed detector, and
• a neutral point learning correction value setter configured to set the steering angle difference calculated by the steering angle difference calculator to the neutral point learning correction value.