PROBLEM TO BE SOLVED: To constitute an automatic steering device which can be safely transited to manual steering from automatic steering even if status data necessary for performing the automatic steering cannot be acquired.SOLUTION: An automatic steering device comprises: a vehicle speed sensor 25 which detects a vehicle speed V; an abnormality determination part 42 for a variety of signals which determines whether a command steering angle θp* and the vehicle speed V are normal or abnormal; a command steering angle storage part 44M which stores at least two or more samples of the command steering angles θp*; and a microcomputer 30 which performs the steering angle control of a steering mechanism on the basis of the command steering angle θp*. When the command steering angles θp* and the vehicle speed V are normal, the microcomputer 30 performs the automatic steering at the command steering angle θp* of the first sample, and when the command steering angle θp* is abnormal and the vehicle speed V is normal, the microcomputer performs the automatic steering by correcting the command steering angle θp* from the command steering angle θp* on and after the second sample which is stored in the command steering angle storage part 44M and the vehicle speed V.
【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】車速Vを検出する車速センサ25と、指令操舵角θp*及び車速V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指令操舵角記憶部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*及び車速Vが正常な場合には、1サンプル目の指令操舵角θp*にて自動操舵を実行する一方、指令操舵角θp*が異常で、車速Vが正常な場合には、指令操舵角記憶部44Mで記憶している2サンプル目以降の指令操舵角θp*、及び車速Vから指令操舵角θp*を補正して自動操舵を実行する構成とした。【選択図】図4
AUTOMATIC STEERING DEVICE
自動操舵装置
2015-12-24
Patent
Electronic Resource
Japanese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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