| 摘要 |
PROBLEM TO BE SOLVED: To perform a followup steering control accurately capable of restricting properly the control output torque due to the automatic steering control and securing a proper control amount with good response even when a transfer is made from the restricted situation to the normal followup steering condition. SOLUTION: The followup steering control is configured so that the target yawrate of the vehicle concerned is calculated according to its current position relative to a foregoing vehicle in case the speed of the vehicle concerned lies on the higher side in the vehicle speed range, and on the basis of the obtained target yawrate, the power steering instruction amperage is calculated through the PID control. In the opposite case in which the vehicle operation is on the lower side in the vehicle speed range, the target steering angle of the vehicle concerned is calculated according to its current position relative to the foregoing vehicle, and on the basis of the target steering angle obtained, the power steering instruction amperage is calculated through the PID control. The power steering instruction amperage is limited by the power steering instruction current limit value, and when limited, increase in the absolute of the integral term of the power steering instruction amperage is prohibited. COPYRIGHT: (C)2007,JPO&INPIT
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