PROBLEM TO BE SOLVED: To constitute an automatic steering system, safely transferrable to manual steering from automatic steering even when required state data is not acquired for executing the automatic steering.SOLUTION: A microcomputer 30 comprises an expected command steering angle correction arithmetic operation part 56 for executing automatic steering based on a command steering angle θp* of first sampling when an abnormality determination part 40 determines that the command steering angle θp* sampled with every predetermined period and an actual vehicle speed V are normal and correcting an expected command steering angle θp*(k) on and after a second sample stored by an expected command steering angle storage part 54 based on an expected vehicle speed V(k) stored in an expected vehicle speed storage part 42 and the sampled actual vehicle speed V when the abnormality determination part 40 determines that the command steering angle θp* sampled with every predetermined period is abnormal and the sampled actual vehicle speed V is normal, and is constituted for executing the automatic steering based on an expected command steering angle corrected by the expected command steering angle correction arithmetic operation part 56.SELECTED DRAWING: Figure 6

    【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。【解決手段】マイコン30は、異常判定部40が所定周期毎にサンプリングされた指令操舵角θp*及び実車速Vが正常と判定した場合には、1サンプリング目の指令操舵角θp*に基づいて自動操舵を実行する一方、異常判定部40が所定周期毎にサンプリングされた指令操舵角θp*が異常で、且つサンプリングされた実車速Vが正常と判定した場合には、予定車速記憶部42に記憶された予定車速V(k)及びサンプリングされた実車速Vに基づいて、予定指令操舵角記憶部54で記憶された2サンプル目以降の予定指令操舵角θp*(k)を補正する予定指令操舵角補正演算部56を有し、予定指令操舵角補正演算部56で補正された予定指令操舵角に基づいて自動操舵を実行する構成とする。【選択図】図6


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    Title :

    AUTOMATIC STEERING SYSTEM


    Additional title:

    自動操舵装置


    Contributors:

    Publication date :

    2016-02-01


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge




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