| 摘要 |
PROBLEM TO BE SOLVED: To provide an automatic turning device for a vehicle capable of performing control such that the vehicle is moved along a target route with sufficient accuracy by automatic steering by correcting a turning angle or turning torque at automatic turning by self-aligning torque (SAT) indicating the state of the vehicle. SOLUTION: The automatic turning device for the vehicle guides the vehicle along the target route reaching to a target position is provided with: a target turning angle calculation part 61 for calculating a target turning angle according to the target route; a turning angle obtaining part for obtaining the turning angle; an SAT target value calculation part 62 for calculating the SAT target value based on the target turning angle; an actual SAT obtaining part 64 for obtaining the actual SAT of the vehicle; and a target turning angle correction part 63 for correcting the target turning angle such that the actual route of the vehicle is coincident with the target route according to the result obtained by comparison of the SAT target value and the actual SAT. COPYRIGHT: (C)2010,JPO&INPIT |
