| 摘要 |
PROBLEM TO BE SOLVED: To provide an automatic steering system capable of providing riding comfort while preventing vehicle occupants from feeling uncomfortable during cornering. SOLUTION: On a track 101, on the supposition that the vehicle 100 linearly advances from a current point, a yaw direction required change angleθformed by a target advancing direction along a track edge in the front side of the linear advancing direction with respect to the liner advancing direction is calculated. On the supposition that the vehicle 100 linearly advances from a current point, a target yaw rate corresponding to a value of the yaw direction required change angleθdivided by an arrival time to arrive at the track edge in the front side of the linear advancing direction is calculated. A steering actuator for changing a steering angle of the vehicle 100 is controlled so that deviation between the target yaw rate of the vehicle 100 and the actual yaw rate is lowered, and thus the vehicle 100 travels along the track 101. COPYRIGHT: (C)2005,JPO&NCIPI |
