| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To provide a steering device capable of carrying out proper steering control at an exit of a curve. <P>SOLUTION: This steering device furnished with travelling road detection means 20, 21, slipping quantity detection means 20, 21 to detect slipping quantity from a specified position of a travelling road, an integrating means 30 to find an integrating term by integrating the slipping quantity and an calculation means 30 to calculate steering output to control a steering mechanism in accordance with the slipping quantity and the integrating term and to control the steering mechanism so that the vehicle travels along the specified position of the travelling road is furnished with curve radius detection means 20, 21, a curve exit determining means 30 to determine whether a vehicle position is the exit of a curved road or not and a vehicle moving direction detection means 30 and characteristically rests the integrating term when the vehicle moving direction and the steering controlling direction based on the integrating term coincide with each other in determining the vehicle position as the exit of the curved road in the middle of travelling on the curved road a curve radius of which is larger than a specified radius. <P>COPYRIGHT: (C)2007,JPO&INPIT</p> |
