| 摘要 |
PROBLEM TO BE SOLVED: To enhance steering feeling by reducing unnatural rotation fluctuation of a steering wheel and to travel a vehicle along a target traveling route well while preventing neutral position offset from being excessive. SOLUTION: Radius of curvature R of a traveling road 100, lateral deviation Y and yaw angle deviationψof the vehicle 12 relative to the target traveling route 104 are operated (S50-70) and a target correction steering angleΔδt is operated as a total of a target correction steering angleΔδt1 for reducing the lateral deviation Y and a target correction steering angleΔδt2 for reducing the yaw angle deviationψ(S80-100). Left and right front wheels are corrected/steered by a steering angle variable device 30 based on the target correction steering angleΔδt (S110) and a target steering angleδpt of the left and right front wheels for turning the vehicle at the radius of curvature R is operated (S130). The steering angle of the left and right front wheels is controlled to the target steering angleδpt by auxiliary steering force of an electric power steering device 16 (S140). COPYRIGHT: (C)2006,JPO&NCIPI |
