| 摘要 |
<p>PROBLEM TO BE SOLVED: To realize a capability of a device for driving a steering device for performing a follow-up traveling and a steering angle correction device for performing a correction in respect to a steering angle inputted by a driver by a method wherein these devices are monitored under their separated state. SOLUTION: An image picked up by a CCD camera 38 is at first sent to an image processing section 38a, and after processing, the image is sent to a traveling area acknowledging section 38b where a traveling can be performed so as to search an area where the traveling can be carried out. Then, a result of search is sent to a target passage setting section 38c, where a course to be tried to run is designed and then a result of processing is inputted to a CPU 40. In addition, a steering angle sensor 22 is an encoder, where a steering torque sensor 20 converts it into a digital amount, its output is inputted to the CPU 40. The CPU 40 drives a motor 24 in response to these inputted signals to generate a steering torque followed by the lane so as to guide a driver and at the same time a motor 30 is driven and an improper steering input angle of the driver is properly corrected to cause the vehicle to be run in a stable manner.</p> |
