| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To provide a travel control device eliminating a restriction in a control performance due to a right and left asymmetry of steering angular velocity by an actuator and sufficiently exhibiting the control performance of automatic steering. <P>SOLUTION: The travel control device includes a camera S1 detecting the road information in front of a travelling vehicle, an automatic steering controller 3 for calculating a target travelling line based on the road information from the camera S1 and determining a target steering angle of a steering wheel 2 of the travelling vehicle, and an actuator 4 composed of a hydraulic circuit for controlling the steering wheel 2 to be the target steering angle based on the target steering angle determined by the automatic steering controller 3. The travel control device further includes a right and left symmetry compensation part 5 for determining an instruction current based on the target steering angle determined by the automatic steering controller 3 so that the right and left steering angular velocities by the actuator 4 are made equal to each other according to the right and left direction target steering angle of the actuator 4, and outputting the instructing current to the actuator 4. <P>COPYRIGHT: (C)2011,JPO&INPIT</p> |
