PROBLEM TO BE SOLVED: To provide an automatic steering system which can safely transition from automatic steering to manual steering, even if circumferential data required for performing the automatic steering cannot be obtained.SOLUTION: An automatic steering system includes a variety of signal abnormality determination parts 42 which determine whether a directive steering angle θp* is normal or abnormal, a steering angle memory part 44M which stores at least two or more samples of the directive steering angle θp*, and a microcomputer 30 which performs steering angle control of a steering mechanism on the basis of the directive steering angle θp*. The microcomputer 30 is configured to use a first sample of the directive steering angle θp* (1) when the directive steering angle θp* is normal, and, on the other hand, to use a directive steering angle θp* (n0) of a second or later sample of the directive steering angle θp* (2) stored in the steering angle memory part 44M when the directive steering angle θp* is abnormal.
【課題】自動操舵を行うために必要な状況データが得られなかった場合でも、安全に自動操舵から手動操舵に移行できる自動操舵装置を構成すること。【解決手段】指令操舵角θp*が正常か異常かを判定する各種信号異常判定部42と、指令操舵角θp*を少なくとも2サンプル以上記憶する操舵角記憶部44Mと、指令操舵角θp*に基づいて、操舵機構の操舵角制御を行うマイコン30とを備え、マイコン30は、指令操舵角θp*が正常な場合には、1サンプル目の指令操舵角θp*(1)を使用する一方、指令操舵角θp*が異常な場合には、操舵角記憶部44Mで記憶している2サンプル目以降の指令操舵角θp*(2)から指令操舵角θp*(n0)を使用する構成とした。【選択図】図3
AUTOMATIC STEERING SYSTEM
自動操舵装置
2015-12-03
Patent
Electronic Resource
Japanese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
European Patent Office | 2023
|European Patent Office | 2023
|European Patent Office | 2023
|European Patent Office | 2023
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