| 摘要 |
PROBLEM TO BE SOLVED: To provide an automatic steering device capable of automatically steering a vehicle based on an electric steering instruction, which can enhance the safety of steering control at the time of a high speed traveling, and enhance the safety of the steering control according to the situation of a road. SOLUTION: When defining the changing amounts of the real steering position of steering wheels (6) or a steering actuator (4) per unit time as a steering speed, and defining a difference between the neutral position and real steering position of the steering wheels (6) or the steering actuator (4) as steering amounts, the allowable upper limit value of the steering speed and/or the steering amounts is preliminarily made correspond to the speed as an upper limit steering speed and/or upper limit steering amounts in a memory (24) so as to be made smaller according as the speed is made higher. Then, a steering control means (2) corrects the upper limit steering amounts and/or the upper limit steering amounts calculated by referring to the memory from the speed detected by a speed sensor (3) according to the detected result of a friction coefficient deterioration sensor (7), and controls the steering speed and/or the steering amounts based on a steering instruction to not more than the corrected upper limit steering speed and/or upper limit steering amounts. |
