| 摘要 |
PROBLEM TO BE SOLVED: To provide a steering device giving steering torque to a steering mechanism so that a vehicle travels along a predetermined position of a traveling road by a photographing image of the traveling road. SOLUTION: The steering device is provided with a right integration means for integrating the deviation of a vehicle position relative to a predetermined position of the traveling road and determining an integration value of a right side degree relative to the predetermined position of the traveling road; a left integration means for determining an integration value of a left side degree; and a switching means for performing the switching of the integration means. The switching means is switched to either of integration means of the right integration means or the left integration means and when the integration value of one integration means is 0 or approximately 0 and the other integration means is in an outputtable state, it is switched from one integration means to the other integration means. COPYRIGHT: (C)2007,JPO&INPIT |
