| 摘要 |
PROBLEM TO BE SOLVED: To prevent a driver grasping a steering wheel from feeling incongruity due to generation of excessive steering torque in an actuator when avoiding collision with his or her vehicle and a oncoming vehicle through automatic steering by the actuator. SOLUTION: If there is a probability that the user's vehicle collides with an oncoming vehicle, a lateral movement control current I1 of a sine wave is supplied to the actuator of an electric power steering device, and the user's vehicle is laterally moved to avoid collision with the oncoming vehicle. The yaw rate is integrated simultaneously with the start of lateral movement to detect the yaw angle of the user's vehicle, and a yaw angle correction control current I2 is superposed on the lateral movement control current I1 and is supplied to the actuator so that the yaw angle may be converged to 0 from the last stage of lateral movement to restore the attitude of the user's vehicle to the original state. Since a steering angle is not used as a steering target value for collision avoidance but the current value of the actuator (namely, the steering torque generated by the actuator) is used, the actuator is prevented from generating the excessive steering torque to give a sense of incongruity to the driver.
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