摘要 |
An automatic parking control is cancelled when a motor current has not yet reached a maximum current value I max with a steering angle deviation exceeding a deviation threshold value. In addition, the automatic parking control is cancelled when a steering speed has not yet reached a maximum steering speed with a state where the motor current has reached and remains at the maximum steering speed continuing over a first time period. On the other hand, when a state where the steering speed has reached and remains at the maximum steering speed continues over a second time period, it is determined that there occurs an output shortage of a steering actuator, an automatic parking condition is recalculated, so as to allow the automatic parking control to continue.
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申请人 |
JTEKT CORPORATION |
发明人 |
ARIMA, MASANORI;MAEDA, NAOKI;YAMANAKA, KOSUKE;ISHIHARA, ATSUSHI;KOUCHI, TATSUMA;MAEDA, SHINGO;MAEDA, DAISUKE |