| 摘要 |
PROBLEM TO BE SOLVED: To provide an automatic steering system which can safely transition from automatic steering to manual steering, even if circumferential data required for performing the automatic steering cannot be obtained.SOLUTION: An automatic steering system includes a variety of signal abnormality determination parts 42 which determine whether a directive steering angle &thetas;p* is normal or abnormal, a steering angle memory part 44M which stores at least two or more samples of the directive steering angle &thetas;p*, and a microcomputer 30 which performs steering angle control of a steering mechanism on the basis of the directive steering angle &thetas;p*. The microcomputer 30 is configured to use a first sample of the directive steering angle &thetas;p* (1) when the directive steering angle &thetas;p* is normal, and, on the other hand, to use a directive steering angle &thetas;p* (n0) of a second or later sample of the directive steering angle &thetas;p* (2) stored in the steering angle memory part 44M when the directive steering angle &thetas;p* is abnormal. |
