To provide a vehicular automatic steering apparatus configured to perform steering control allowing the own vehicle to move to a target point, and having improved to prevent the turning angle of a turning wheel from varying unnecessarily vibrationally even in a low vehicular speed.SOLUTION: An automatic steering apparatus includes a control unit for controlling a steering device. The control unit sets a target point Pp at a position on a target track apart from a present point Pn of a vehicle, computes a target turning angle δt of a turning wheel for allowing the vehicle to move to the target point, and controls a turning device so that the turning angle δ of the turning wheel becomes the target turning angle δt (S50 through S90). When determining a vehicular speed is equal to or higher than a predetermined threshold Lpmin/Tp, the control unit sets a read-ahead distance Lp to be a value of a vehicular function V×Tp so that the read-ahead distance increases as a vehicular speed increases, or when determining the vehicular speed is less than the threshold, sets the read-ahead distance to be a value Lpmin that is larger than the value of the vehicular function (S20 through S40).SELECTED DRAWING: Figure 3

    【課題】自車両が目標地点へ移動するよう操舵制御を行うよう構成された自動操舵装置であって、車速が低いときにも転舵輪の舵角が不必要に振動的に変動することがないよう改良された車両用自動操舵装置を提供する。【解決手段】自動操舵装置は、転舵装置を制御する制御ユニットを含み、制御ユニットは、車両の現在地Pnから先読み距離だけ離れた目標軌道上の位置に目標地点Ppを設定し、車両を目標地点へ移動させるための転舵輪の目標転舵角δtを演算し、転舵輪の転舵角δが目標転舵角になるように転舵装置を制御する(S50~S90)。制御ユニットは、車速Vが予め設定された閾値Lpmin/Tp以上であると判定したときには、車速が高いほど先読み距離Lpが大きくなるよう、先読み距離を車速の関数V×Tpの値に設定し、車速が閾値未満であると判定したときには、先読み距離を車速の関数の値よりも大きい値Lpminに設定する(S20~S40)。【選択図】図3


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    Title :

    VEHICULAR AUTOMATIC STEERING APPARATUS


    Additional title:

    車両用自動操舵装置


    Contributors:

    Publication date :

    2022-05-19


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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