Vehicle steering control system

A system for controlling steering of a vehicle having an actuator which turns steered wheels of the vehicle;

• comprising:
• an image sensor mounted on the vehicle for taking an image ahead of the vehicle;
• lane detecting means for detecting a lane on which the vehicle travels based on image information obtained from outputs of the image sensor;
• basic steering assist torque determining means for determining a structural parameter relating to a structure of the detected lane and for determining a basic steering assist torque based on the determined structural parameter in accordance with a predetermined characteristic;
• corrective steering assist torque determining means for determining a positional parameter of the vehicle relating to the lane and for calculating a corrective steering assist torque based on the determined positional parameter;
• actuator manipulated variable determining means for determining a manipulated variable to be supplied to the actuator based on the determined basic steering assist torque and the corrective steering assist torque such that the vehicle runs along the lane;
• and
• an actuator driver for driving the actuator based on the determined manipulated variable.