| 摘要 |
<p>PROBLEM TO BE SOLVED: To prevent a generation of excess or lack on a steering angle speed of an automatic steering and a carrying out of the automatic steering and to always realize an appropriate automatic steering in spite of a condition of road surface and a condition of vehicle. SOLUTION: A target steering angleθt is operated (S70), a deviationΔθof the target steering angleθt and an actual steering angleθof right and left front wheels 10FL, 10FR is operated (S80), the most appropriate target steering angle speedθvt to make the steering angle deviationΔθto 0 based on the steering angle deviationΔθ(S90, 100), the right and left front wheels are steered at the steering angle speed corresponding to the target steering angle speedθvt. Thereby, the actual steering angleθis controlled to the target steering angleθt (S120-150). The lower a friction coefficientμof a road surface becomes the smaller a size of the target steering angle speedθvt is set to. The target steering angle speedθvt is corrected corresponding to a car speed such that the higher the car speed V becomes and the smaller the size of the target steering angle speedθvt (S90, 110).</p> |
