| 摘要 |
PROBLEM TO BE SOLVED: To provide a vehicular automatic steering control device capable of assisting the turning driving force when the turning driving force of a turning actuator becomes insufficient while performing the automatic steering control to automatically steering a wheel of a vehicle without operating a steering wheel. SOLUTION: The automatic parking control device performs the automatic parking control to transfer a vehicle to a target parking condition by automatically steering the wheels FR, FL so that the actual steering angle THs of the wheels FR, FL follows the target steering angle THst without performing the steering wheel operation of a driver. While performing the automatic parking control, when the actual steering angle THs cannot follow the target steering angle THst due to insufficient turning driving force of a turning actuator, the braking force providing control to provide the predetermined braking force (the final braking force Ffin) to the wheel on the inner side of the turning direction is performed. The turning moment Ms to be functioned as the force to assist the turning driving force of the turning actuator for the wheels FR, FL is generated, and the turning driving force can be assisted. As a result, the actual steering angle THs of the wheels FR, FL can follow the target steering angle THst. COPYRIGHT: (C)2006,JPO&NCIPI |
