Vehicular control device and vehicular control method

Abstract

To prevent a driver from suddenly starting a vehicle unintentionally.SOLUTION: A vehicular control device, which is loaded on a vehicle whose four wheels can be independently steered and controls braking force and driving force of the vehicle, includes: control determining means that determines whether or not the vehicle is in an ultra-pivotal turn control state; steering angle detecting means that detects a steering angle of a steering of the vehicle; driving control means that controls driving force of the wheels, in accordance with the steering angle of the steering detected by the steering angle detecting means, in the ultra-pivotal turn control state; braking operation detecting means that detects braking operation to the wheels; and reaction force applying means that applies steering reaction force in a direction in which the steering is returned to a neutral position, to the steering of the vehicle. When the control determining means determines that the vehicle is in the ultra-pivotal turn control state, and when the braking operation detecting means detects the braking operation, the reaction force applying means increases the steering reaction force.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to a vehicle control device and a vehicle control method that perform pivot turn control. [Background technology]

[0002] 2. Description of the Related Art There is known a vehicle control device that controls the driving force of wheels in accordance with the steering angle of the vehicle in a pivot turn control state (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2006-282045 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, when the vehicle turns in response to the steering operation during the pivot turn control and the brake operation is performed, the turning of the vehicle may be stopped by the braking operation while maintaining the steering angle. However, when the driver releases the brake pedal in this state, the vehicle turns sharply in response to the steering angle, which may cause the vehicle to suddenly start moving unintentionally.

[0005] The present disclosure has been made to solve such problems, and has as its main object to provide a vehicle control device and a vehicle control method that can prevent the vehicle from suddenly starting unintended by the driver. [Means for solving the problem]

[0006] In order to achieve the above object, one aspect of the present disclosure is to A vehicle control device that is mounted on a vehicle capable of independently steering four wheels and controls a braking force and a driving force of the vehicle, a control determination means for determining whether the vehicle is in a whirlpool turn control state; a steering angle detection means for detecting a steering angle of the vehicle; a drive control means for controlling a drive force of the wheels in accordance with the steering angle detected by the steering angle detection means in the whirlpool turn control state; a braking operation detection means for detecting a braking operation on the wheel; a reaction force applying means for applying a steering reaction force to a steering wheel of the vehicle in a direction to return the steering wheel to a neutral position; Equipped with when the control determination means determines that the vehicle is in a whirlpool turn control state and the braking operation detection means detects the braking operation, the reaction force adding means increases the steering reaction force. A vehicle control device. In this one aspect, the reaction force adding means may increase the steering reaction force as the steering angle of the steering wheel detected by the steering angle detection means increases, and when the braking operation is detected, may add an additional steering reaction force to the steering wheel in addition to the steering reaction force. In this one aspect, the reaction force adding means may increase the additional steering reaction force as the braking force of the wheels corresponding to the braking operation detected by the braking operation detecting means increases. In this one aspect, when the control determination means determines that the vehicle is in a whirlpool turn control state and the braking operation detection means detects the braking operation, the drive control means may control the drive force of the wheels to 0 regardless of the steering angle detected by the steering angle detection means. In order to achieve the above object, one aspect of the present disclosure is to A vehicle control device that is mounted on a vehicle capable of independently steering four wheels and controls a braking force and a driving force of the vehicle, a control determination means for determining whether the vehicle is in a whirlpool turn control state; a steering angle detection means for detecting a steering angle of the vehicle; a drive control means for controlling a drive force of the wheels in accordance with the steering angle detected by the steering angle detection means in the whirlpool turn control state; a braking operation detection means for detecting a braking operation on the wheel; Equipped with When the control determination means determines that the vehicle is in a whirlpool turn control state and the braking operation detection means detects the braking operation and the vehicle stops, the drive control means performs control to suppress the drive force of the wheels when it determines that the steering angle detected by the steering angle detection means has not been substantially returned to 0°. A vehicle control device. In order to achieve the above object, one aspect of the present disclosure is to A vehicle control method for controlling a braking force and a driving force of a vehicle in which four wheels can be independently steered, comprising: Detecting a steering angle of the vehicle; controlling a driving force of the wheels in accordance with the detected steering angle while the vehicle is in a pivot turn control state; detecting a braking operation on the wheel; applying a steering reaction force to a steering wheel of the vehicle in a direction to return the steering wheel to a neutral position; increasing the steering reaction force when the vehicle is in a whirlpool turn control state and the braking operation is detected; A control method for a vehicle, comprising: Effect of the Invention

[0007] According to the present disclosure, it is possible to provide a vehicle control device and a vehicle control method that can prevent a sudden start of the vehicle unintended by the driver. [Brief description of the drawings]

[0008] [Figure 1] 1 is a block diagram showing a schematic system configuration of a vehicle control device according to an embodiment of the present invention; [Diagram 2]1A and 1B are diagrams illustrating the state of the vehicle in a pivot turning mode and a normal driving mode. [Diagram 3] FIG. 4 is a diagram showing an example of time-series data showing the relationship among a steering angle, a wheel rotation speed, and a steering reaction force. [Figure 4] FIG. 4 is a diagram illustrating an example of a relationship between a steering angle and a steering reaction force. [Diagram 5] FIG. 4 is a diagram showing an example of the relationship between the braking force of each wheel and the braking steering reaction force; [Figure 6] 3 is a flowchart showing a flow of a vehicle control method according to the present embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] EMBODIMENT 1 Hereinafter, the present embodiment will be described with reference to the drawings. The vehicle control device according to the present embodiment is mounted on a vehicle configured to be able to independently control the steering and driving of four wheels. The vehicle control device controls the braking force and driving force of each wheel to rotate the vehicle on the spot, which is called a "spin turn control."

[0010] 1 is a block diagram showing a schematic system configuration of a vehicle control device according to this embodiment. The vehicle control device 1 according to this embodiment includes an accelerator pedal detector 2, a brake pedal detector 3, a steering angle detector 4, a drive controller 5, a braking controller 6, a mode switch 7, a tire angle controller 8, a reaction force adding unit 9, and a control determination unit 10.

[0011] The accelerator pedal detector 2 detects the amount of accelerator pedal operation by the driver. The accelerator pedal detector 2 is composed of, for example, a stroke sensor that detects the stroke angle of the accelerator pedal.

[0012] The brake pedal detection unit 3 is a specific example of a braking operation detection means. The brake pedal detection unit 3 detects the braking operation for each wheel by, for example, detecting the amount of brake pedal operation by the driver. The brake pedal detection unit 3 detects the braking operation for each wheel when the detected amount of brake pedal operation is equal to or greater than a predetermined value greater than 0. The brake pedal detection unit 3 is composed of, for example, a stroke sensor that detects the stroke angle of the brake pedal.

[0013] The steering angle detection unit 4 is a specific example of a steering angle detection means. The steering angle detection unit 4 detects the steering angle of the vehicle steered by the driver. The steering angle detection unit 4 is composed of, for example, a steering angle sensor provided on a steering column.

[0014] The drive control unit 5 is a specific example of a drive control means. The drive control unit 5 controls the drive force generated in each wheel independently according to the amount of operation of the accelerator pedal detected by the accelerator pedal detection unit 2. For example, at least one wheel is provided with a motor (such as an in-wheel motor) that drives and rotates the wheel. The drive control unit 5 can independently control the drive force of each wheel by independently controlling the motor of each wheel.

[0015] The braking control unit 6 controls the braking force generated on each wheel. The braking control unit 6 controls the braking force on each wheel according to the amount of operation of the brake pedal detected by the brake pedal detection unit 3. The braking control unit 6 controls the braking force on each wheel by, for example, adjusting the hydraulic pressure of a brake master cylinder.

[0016] The vehicle control device 1 according to this embodiment has, for example, a normal driving mode and a quick turn mode, which will be described later. The mode changeover switch unit 7 is a changeover switch that is operated by the driver and is used to change over between the normal driving mode and the quick turn mode.

[0017] The tire angle control unit 8 controls the steering angle (hereinafter referred to as tire angle) of each wheel independently by controlling an actuator provided on each wheel. Note that the drive control unit 5, braking control unit 6, and tire angle control unit 8 may be integrated into an ECU (Electronic Control Unit), for example.

[0018] The reaction force application unit 9 is a specific example of a reaction force application means. The reaction force application unit 9 applies a reaction force to the steering operation of the vehicle by the driver. The reaction force application unit 9 is configured with, for example, an actuator such as a motor and a reduction mechanism, and is provided in a steering mechanism. The reaction force application unit 9 generates, for example, a rotational reaction force in a direction to return the steering wheel to a neutral position (hereinafter referred to as a steering reaction force). The neutral position of the steering wheel is, for example, a position where the steering angle θ is approximately 0°.

[0019] The control determination unit 10 is a specific example of a control determination means. The control determination unit 10 determines whether the vehicle is in a whirlpool turn control state by determining whether the mode changeover switch unit 7 is in an on state.

[0020] Next, a control method in the normal driving mode and the quick turn mode of the vehicle control device 1 according to this embodiment configured as described above will be described in detail with reference to Fig. 2. The upper part (a) of Fig. 2 shows the state of the vehicle in the quick turn mode, and the lower part (b) of Fig. 2 shows the state of the vehicle in the normal driving mode.

[0021] As described above, the vehicle control device 1 according to this embodiment has, for example, a normal driving mode and a quick turn mode. Of these modes, the normal driving mode is the default, and the vehicle control device 1 switches to the quick turn mode only while the mode changeover switch unit 7 is in the on state.

[0022] 2(b), in normal driving mode, tire angle control unit 8 controls the tire angle of each wheel 100 so that each wheel 100 is parallel to the vehicle's longitudinal direction when traveling straight, and controls the tire angle of the front wheels 100 according to the steering angle detected by steering angle detection unit 4 when turning left or right. Drive control unit 5 generates a driving force for each wheel 100 according to the accelerator pedal operation amount detected by accelerator pedal detection unit 2, and drives and rotates each wheel 100. Braking control unit 6 generates a braking force for each wheel 100 according to the brake pedal operation amount detected by brake pedal detection unit 3, and brakes each wheel 100.

[0023] In this way, in the normal driving mode, the vehicle control device 1 controls the tire angle of the steered wheels in response to the steering operation, controls the driving force of the driving wheels in response to the accelerator pedal operation, and controls the braking force of the braked wheels in response to the brake pedal operation, as in the conventional case. Then, when the vehicle is driven, the vehicle control device 1 controls all the wheels 100 so that they rotate in the same direction.

[0024] On the other hand, when the mode changeover switch unit 7 is turned on, the vehicle control device 1 switches to the whirlpool turning mode. When the vehicle control device 1 switches to the whirlpool turning mode, the tire angle control unit 8 controls the tire angles of the wheels 100 so that the front wheels 100 form a V-shape opening toward the rear of the vehicle and the rear wheels 100 form an inverted V-shape opening toward the front of the vehicle, as shown in the upper part (a) of Fig. 2, and the orientations of the wheels 100 overlap on the tangents of the same circle centered on the turning center O of the vehicle.

[0025] During the whirlpool turning mode, the drive control unit 5 temporarily cuts off the functional relationship with the accelerator pedal detection unit 2 and stops generating the drive force according to the accelerator pedal operation amount. During the whirlpool turning mode, the drive control unit 5 controls the motor of each wheel 100 according to the steering angle detected by the steering angle detection unit 4, thereby controlling the drive force of each wheel 100. This allows the driver to easily realize a whirlpool turning by simply steering the steering wheel in the direction in which the driver wants to turn the wheel.

[0026] For example, in a region where the steering angle is greater in the clockwise direction than the threshold value +θ1° (0<θ1), the drive control unit 5 generates a drive force that causes the vehicle to make a right-handed pivot turn. That is, the drive control unit 5 controls the motors of the wheels 100 so that the two right-side wheels 100 rotate in the backward direction during normal driving and the two left-side wheels 100 rotate in the forward direction during normal driving, thereby causing the vehicle to make a right-handed pivot turn.

[0027] The drive control unit 5 controls the motor of each wheel 100 so that the drive force (≈ rotation speed) for achieving the right-handed pivot turn increases as the clockwise steering angle detected by the steering angle detection unit 4 increases.

[0028] The same applies to the left turn as to the right turn. In a region where the steering angle is greater than the threshold value -θ1° in the leftward direction, the drive control unit 5 generates a drive force that causes the vehicle to make a leftward pivot turn. That is, the drive control unit 5 controls the motors of the wheels 100 so that the two right wheels 100 rotate in the forward direction during normal driving and the two left wheels 100 rotate in the backward direction during normal driving, thereby causing the vehicle to make a leftward pivot turn.

[0029] The drive control unit 5 controls the motors of the wheels 100 so that the drive force (≈rotation speed) for achieving the left-hand pivot turn increases as the left-hand steering angle detected by the steering angle detection unit 4 increases.

[0030] The steering angle of -θ1° to +θ1° may be set as the neutral position of the steering and function as a so-called "play" portion. That is, the drive control unit 5 controls the drive force of each wheel 100 to approximately 0, regardless of the steering angle detected by the steering angle detection unit 4. This prevents a situation in which a sharp turn is performed by merely moving the steering wheel slightly.

[0031] When the brake pedal detector 3 detects a braking operation of each wheel 100 during the above-mentioned pivot turn control, the drive controller 5 performs control to generate a braking force on each wheel 100 in response to the braking operation.

[0032] However, as described above, when the vehicle turns in response to the steering operation during the pivot turn control, if the brake operation is performed, the turning of the vehicle may be stopped by the brake operation while maintaining the steering angle. Conventionally, when the driver releases the brake pedal in this state, the vehicle turns sharply in response to the steering angle, which may cause the vehicle to suddenly start moving unintentionally.

[0033] In contrast, in the vehicle control device 1 according to this embodiment, when the control judgment unit 10 judges that the vehicle is in a whirlpool turn control state and the brake pedal detection unit 3 detects a braking operation, the reaction force addition unit 9 increases the steering reaction force in the direction of returning the steering to the neutral position.

[0034] As a result, even if the driver releases the brake pedal after the vehicle stops turning while the steering angle is maintained, the steering is forcibly returned to the neutral position by the steering reaction force, preventing the vehicle from turning suddenly and thus preventing the vehicle from suddenly starting unintentionally.

[0035] Next, a specific example of a method for increasing the steering reaction force by the reaction force application unit 9 will be described with reference to Figs. 3 to 5. Fig. 3 is a diagram showing an example of time-series data showing the relationship between the steering angle, the rotation speed of the wheels, and the steering reaction force. The upper part (a) of Fig. 3 shows time-series data of the steering angle, the actual rotation speed of the wheels 100, and the command rotation speed. In the upper part (a) of Fig. 3, the solid line shows the actual rotation speed, the dotted line shows the command rotation speed, and the dashed line shows the steering angle. The middle part (b) of Fig. 3 shows time-series data of a braking signal output by the brake pedal detection unit 3 to the braking control unit 6 according to the amount of operation of the brake pedal. The lower part (c) of Fig. 3 shows time-series data of the steering reaction force by the reaction force application unit 9.

[0036] As shown in the upper part (a) of Figure 3, when the vehicle control device 1 is in the pivot turn control state, the steering is gradually turned from time T1 and the steering angle gradually increases, and in proportion to that, the command rotation speed of each wheel 100 (driving force for each wheel 100) also gradually increases, and the actual rotation speed of each wheel 100 also gradually increases following the command rotation speed.

[0037] On the other hand, when the steering angle gradually increases and exceeds the threshold value θ1 at time T2, as shown in the lower part (c) of Fig. 3, the reaction force adding unit 9 gradually increases the steering reaction force in the direction to return the steering wheel to the neutral position in response to the gradual increase in the steering angle detected by the steering angle detecting unit 4. Fig. 4 is a diagram showing an example of the relationship between the steering angle and the steering reaction force.

[0038] After that, at time T3, when the driver depresses the brake pedal, as shown in the middle part (b) of FIG. 3, the brake pedal detector 3 detects the braking operation for each wheel 100 and outputs a braking signal.

[0039] When the brake pedal detection unit 3 detects a braking operation for each wheel 100 and outputs a braking signal, the drive control unit 5 controls the motor of each wheel 100 so that the driving force (command rotation speed) of each wheel 100 becomes approximately zero, regardless of the steering angle detected by the steering angle detection unit 4.

[0040] At the same time, the reaction force adding unit 9 adds to the steering a steering reaction force corresponding to the steering angle shown in Fig. 4 (hereinafter referred to as steering angle steering reaction force) in addition to the steering reaction force corresponding to the braking operation shown in Fig. 5 (hereinafter referred to as braking steering reaction force). Fig. 5 is a diagram showing an example of the relationship between the braking force of each wheel and the braking steering reaction force.

[0041] 5, the braking steering reaction force may be a constant value relative to the braking force of each wheel (solid line), or may increase (dotted line) in proportion to the braking force due to the braking operation detected by the brake pedal detection unit 3. By applying a braking steering reaction force corresponding to the braking force to the steering, a more natural reaction force can be applied to the steering.

[0042] 3(c), the reaction force adding unit 9 adds a braking steering reaction force corresponding to the braking operation to the steering wheel in addition to the steering angle steering reaction force to increase the steering reaction force from time T3. This allows the steering wheel to be returned to the neutral position more reliably, reflecting the driver's intention to stop.

[0043] When the steering reaction force reaches the threshold value, the reaction force adding unit 9 maintains the steering reaction force at that threshold value. Thereafter, as shown in the upper part (a) of Fig. 3, the actual rotation speed becomes 0 and the vehicle stops, and at time T4, when the driver releases the brake pedal, as shown in the middle part (b) of Fig. 3, the brake pedal detection unit 3 does not detect the braking operation on each wheel 100 and does not output a braking signal. As a result, as shown in the lower part (c) of Fig. 3, the reaction force adding unit 9 gradually reduces the steering reaction force in the direction returning the steering to the neutral position from time T4, and finally reduces it to 0.

[0044] Even if the steering wheel has not returned to the neutral position, as described above, the drive control unit 5 controls the motor of each wheel 100 so that the driving force of each wheel 100 becomes approximately zero, regardless of the steering angle detected by the steering angle detection unit 4. As a result, even if the driver releases the brake pedal after the vehicle stops turning while the steering angle is maintained, the driving force of the wheel 100 becomes approximately zero, so that the vehicle can be prevented from turning sharply.

[0045] Next, an example of the flow of the vehicle control method according to this embodiment will be described. Fig. 6 is a flowchart showing the flow of the vehicle control method according to this embodiment. The mode changeover switch unit 7 is turned on, and the vehicle control device 1 is switched to the super-spin turn mode (step S101).

[0046] During the pivot turn mode, the drive control unit 5 controls the drive force of each wheel 100 according to the steering angle detected by the steering angle detection unit 4 (step S102). The reaction force application unit 9 applies a steering angle steering reaction force to the steering wheel in a direction to return the steering wheel to a neutral position according to the steering angle detected by the steering angle detection unit 4 (step S103).

[0047] The brake pedal detection unit 3 detects a braking operation for each wheel 100 (step S104). The drive control unit 5 controls the motor of each wheel 100 so that the drive force of each wheel 100 becomes approximately 0, regardless of the steering angle detected by the steering angle detection unit 4 (step S105).

[0048] The reaction force application unit 9 applies a braking steering reaction force corresponding to a braking operation to the steering wheel in addition to the steering angle steering reaction force (step S106).

[0049] EMBODIMENT 2 In this embodiment 2, when the control judgment unit 10 determines that the vehicle is in a pivot turn control state and the brake pedal detection unit 3 detects a braking operation and the vehicle stops, the drive control unit 5 performs control to suppress the drive force of the wheel 100 if it determines that the steering angle detected by the steering angle detection unit 4 has not returned to the angle of the neutral position.

[0050] As a result, during the pivot turn control, if the vehicle turns in response to the steering operation of the vehicle and then the brake operation is performed, the vehicle may stop turning while maintaining the steering angle. In this state, even if the driver releases the brake pedal and the steering angle is not returned to the angle of the neutral position (e.g., approximately 0°), the driving force of the wheels 100 is suppressed. Therefore, it is possible to prevent the vehicle from turning suddenly. In other words, it is possible to prevent the vehicle from starting suddenly without the driver's intention.

[0051] If the drive control unit 5 determines that the steering angle detected by the steering angle detection unit 4 has not returned to the angle of the neutral position, it performs control to suppress the drive force of the wheels 100, for example, to 0 or a small value close to 0.

[0052] Next, an example of a flow of the vehicle control method according to this embodiment will be described. The mode changeover switch unit 7 is turned on, and the vehicle control device 1 is switched to the super pivot turn mode (step S201).

[0053] During the pivot turn mode, the drive control unit 5 controls the drive force of each wheel 100 in accordance with the steering angle detected by the steering angle detection unit 4 (step S202). The braking control unit 6 controls the braking force of each wheel 100 in accordance with the amount of brake pedal operation detected by the brake pedal detection unit 3, and the vehicle stops (step S203).

[0054] The drive control unit 5 determines whether the steering angle detected by the steering angle detection unit 4 has been returned to the angle of the neutral position (step S204). When the drive control unit 5 determines that the steering angle has been returned to the angle of the neutral position (YES in step S204), the drive control unit 5 controls the drive force of each wheel 100 according to the steering angle detected by the steering angle detection unit 4. On the other hand, when the drive control unit 5 determines that the steering angle has not been returned to the angle of the neutral position (NO in step S204), the drive control unit 5 controls the drive force of the wheel 100 to be suppressed to approximately 0 (step S205).

[0055] Although some embodiments of the present disclosure have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their modifications are included in the scope and spirit of the invention, and are included in the scope of the invention and its equivalents described in the claims.

[0056] The present disclosure can also be implemented by causing a processor to execute a computer program to perform the processes shown in FIG. [Explanation of symbols]

[0057] 1 Vehicle control device, 2 Accelerator pedal detection unit, 3 Brake pedal detection unit, 4 Steering angle detection unit, 5 Drive control unit, 6 Braking control unit, 7 Mode changeover switch unit, 8 Tire angle control unit, 9 Reaction force application unit, 10 Control determination unit, 100 Wheel

Claims

1. A vehicle control device that is mounted on a vehicle capable of independently steering four wheels and controls a braking force and a driving force of the vehicle, a control determination means for determining whether the vehicle is in a whirlpool turn control state; a steering angle detection means for detecting a steering angle of the vehicle; a drive control means for controlling a drive force of the wheels in accordance with the steering angle detected by the steering angle detection means in the whirlpool turn control state; a braking operation detection means for detecting a braking operation on the wheel; a reaction force applying means for applying a steering reaction force to a steering wheel of the vehicle in a direction to return the steering wheel to a neutral position; Equipped with when the control determination means determines that the vehicle is in a whirlpool turn control state and the braking operation detection means detects the braking operation, the reaction force adding means increases the steering reaction force. Vehicle control device.

2. 2. The vehicle control device according to claim 1, the reaction force adding means increases the steering reaction force as the steering angle of the steering wheel detected by the steering angle detecting means increases, and when the braking operation is detected, adds an additional steering reaction force to the steering wheel in addition to the steering reaction force. Vehicle control device.

3. 3. The vehicle control device according to claim 2, the reaction force adding means increases the additional steering reaction force as the braking force of the wheels corresponding to the braking operation detected by the braking operation detecting means increases. Vehicle control device.

4. A vehicle control device that is mounted on a vehicle capable of independently steering four wheels and controls a braking force and a driving force of the vehicle, a control determination means for determining whether the vehicle is in a whirlpool turn control state; a steering angle detection means for detecting a steering angle of the vehicle; a drive control means for controlling a drive force of the wheels in accordance with the steering angle detected by the steering angle detection means in the whirlpool turn control state; a braking operation detection means for detecting a braking operation on the wheel; Equipped with When the control determination means determines that the vehicle is in a whirlpool turn control state and the braking operation detection means detects the braking operation and the vehicle stops, the drive control means performs control to suppress the drive force of the wheels when it determines that the steering angle detected by the steering angle detection means has not been substantially returned to 0°. Vehicle control device.

5. A vehicle control method for controlling a braking force and a driving force of a vehicle capable of independently steering four wheels, comprising: Detecting a steering angle of the vehicle; controlling a driving force of the wheels in accordance with the detected steering angle while the vehicle is in a pivot turn control state; detecting a braking operation on the wheel; applying a steering reaction force to a steering wheel of the vehicle in a direction to return the steering wheel to a neutral position; increasing the steering reaction force when the vehicle is in a whirlpool turn control state and the braking operation is detected; A control method for a vehicle.

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