AUTOMATIC STEERING CONTROL APPARATUS, AUTOMATIC STEERING CONTROL METHOD, AUTOMATIC STEERING CONTROL PROGRAM AND RECORDING MEDIUM

To solve such a problem that a sense of discomfort occurs in an operation when drive support control is stopped in a case where a steering torque amount is equal to or greater than a threshold.SOLUTION: An automatic steering control apparatus according to one embodiment of the present invention comprises: a steering torque detection device which detects a steering torque amount given to a steering shaft; and a steering control device which switches between automatic steering and manual steering. The steering control device calculates an integrated value obtained by integrating the steering torque amounts detected by the steering torque detection device for a prescribed period, and switches the automatic steering to the manual steering when the integrated value is equal to or greater than an integration threshold.SELECTED DRAWING: Figure 5 【課題】操舵トルク量が閾値以上である場合に運転支援制御を停止するとしたところ、操作に違和感が生じることが判明した。【解決手段】本発明の一実施形態による自動操舵制御装置は、ステアリングシャフトに与えられた操舵トルク量を検出する操舵トルク検出装置と、自動操舵と手動操舵を切り換える操舵制御装置と、を備え、前記操舵制御装置は、操舵トルク検出装置により検出された前記操舵トルク量を所定期間にわたり積算した積算値を算出し、前記積算値が積算閾値以上になると前記自動操舵を前記手動操舵に切り換える。【選択図】 図５