| 摘要 |
PROBLEM TO BE SOLVED: To provide a vehicular automatic travel controller which enables the vehicle to travel automatically on a target travel line stably even if dynamic characteristics are changed.SOLUTION: The vehicular automatic travel controller includes: a camera 11, which detects road information; a target travel line setting section 22, which sets a target travel line; relative position detection sections 11, 23, which detect relative position of the vehicle in the transverse direction to the target travel line; vehicle weight calculation sections 14, 21, which calculate vehicle weight; a target steering angle calculation section 25, which calculates a target steering angle for making the vehicle travel along the target travel line; an automatic steering current calculation section 26, which calculates an automatic steering current based on the target steering angle; and an actuator 15, which turns the steering wheel 2 to the target steering angle according to the automatic steering current. |
