Automatic steering apparatus

摘要

An automatic steering apparatus that can suppress steering wheel vibration and that can also smooth angular control. In the automatic steering apparatus, a motor that steers steered wheels is controlled by a control unit. Information from an angle sensor that generates a signal that corresponds to a steering angle of the steered wheels is sent to the control unit. The control unit corrects a target steering angle of the steered wheels such that angular acceleration of the target steering angle is less than or equal to a limiting value. The control unit controls the motor such that the steering angle of the steered wheels tracks the corrected target steering angle based on the information from the angle sensor.

主权项

1. An automatic steering apparatus comprising:
a motor that steers a steered wheel; a steering angle detecting portion that generates a signal that corresponds to a steering angle of the steered wheel; and a controlling apparatus comprising an angular acceleration limiter that corrects an uncorrected target steering angle to be a corrected target steering angle such that angular acceleration of the target steering angle is less than or equal to a limiting value, the controlling apparatus controlling the motor such that the steering angle tracks the corrected target steering angle based on information from the steering angle detecting portion, wherein: the angular acceleration limiter calculates a target steering angular speed based on a difference between the uncorrected target steering angle and the corrected target angle, calculates a target steering angular acceleration based on a difference between the target steering angular speed and a previous value of the target steering angular speed, calculates a corrected target steering angular speed by integrating a corrected target steering angular acceleration that is determined so as to limit the target steering angular acceleration with a predetermined limiting value, and calculates the corrected target steering angle by integrating the corrected target steering angular speed.