| 摘要 |
PROBLEM TO BE SOLVED: To prevent a traveling vehicle from colliding with an obstacle by changing the control valve corresponding to the detected steering torque so that the steering is suppressed according to the time integrated value of the difference between the detected steering torque and the steering torque in the stationary condition when the possibility of collision is generated. SOLUTION: Signals from a torque sensor 3, a vehicle speed detecting sensor 51, and obstacle detecting sensors 53-56 provided on the right and left sides and the right and left rear sides are read into a controller 50 while a vehicle is traveling. The steering direction is judged from the signal of the torque sensor 3 and the possibility of collision of a vehicle 10 with an obstacle is judged by the obstacle detecting signal from the sensors 53-56 in the steering direction. When a judgment is made that collision is possible, the difference in torque between the steering torque T in the present time point and the device torque To in the stationary condition is operated, and the time integrated value of the torque difference from the time when the possibility of collision is generated, and the suppression value proportional to the time integrated value are successively obtained to change the control value of a steering motor 13.
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