To automatically detect the state of the operator or the like and the running environment of the vehicle and constantly determine the optimal assist ratio in accordance with the detected state of the operator or the like and the running environment of the vehicle.
The present invention provides a manual driving force detecting element 5 which detects manual driving force transmitted to the vehicle running portion 1 from the manual actuator 2, a first storage element 6 which stores at least the data of the manual driving force detected by the manual driving force detecting element 5, and an auxiliary ratio determining element 7 which determines the auxiliary ratio of the auxiliary power actuator 3 relative to the manual actuator 2 based on the manual driving force data stored in the first storage element 6 and the manual driving force data detected by the manual driving force detecting element 5.
TANIDA MASATO
YAMAMOTO HIDEKI
ENOMOTO YASUO
INOUE TOSHITOKI
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