Abstract: A control device executes: a process of calculating a boundary line based on information on an environment around the vehicle such that the boundary line is set at a predetermined position distanced from a recognized object around the vehicle; a process of determining whether the vehicle is traveling in a direction to approach the boundary line, based on information on a running state of the vehicle; and a process of generating a reaction force to an operation on a steering device of the vehicle by a driver in the direction to approach the boundary line such that the reaction force corresponds to a relative position of the vehicle to the boundary line, the process being executed in a case where an affirmative determination is made in the process of determining.

Abstract: A steering support device including: a torque applying device configured to apply control torque to a steering transmission system between a steering wheel and a steered wheel; a steering torque sensor provided in the steering transmission system between the steering wheel and the torque applying device; and a control unit configured to determine that the driver is not holding the steering wheel when the torque Ts detected by the steering torque sensor is less than the reference value Tsc. The control unit sets a reference value Tsc to a larger value when determining that torque is input to the steering torque sensor from the steered wheel side than when determining that torque is input to the steering torque sensor from the steering wheel side.

Abstract: A control device executes: a process of calculating a boundary line based on information on an environment around the vehicle such that the boundary line is set at a predetermined position distanced from a recognized object around the vehicle; a process of determining whether the vehicle is traveling in a direction to approach the boundary line, based on information on a running state of the vehicle; and a process of generating a reaction force to an operation on a steering device of the vehicle by a driver in the direction to approach the boundary line such that the reaction force corresponds to a relative position of the vehicle to the boundary line, the process being executed in a case where an affirmative determination is made in the process of determining.