| 摘要 |
PURPOSE:To prevent the driver's control of a steering wheel from interfering with turning of the steering wheel by automatic steering by setting main steered wheels which are connected to the steering wheel and auxiliary steered wheels which are steered solely by the driving of an actuator, and preferring operation of the auxiliary steered wheels when an automatic steering system intervenes. CONSTITUTION:During automatic steering, rear wheels W3, W4 (auxiliary steered wheels) which are steered only by a rear-wheel actuator independently of a steering wheel 12 are preferred for operation. As a result, the driver's control of the steering wheel does not interfere with the turning of the steering wheel by the automatic steering, so as not to disturb the driver. In particular, the maximum amount of steering of the rear wheels W3, W4 is set as being smaller than that of the front wheels W1, W2 (main steered wheels) by a given amount, and the rear wheels W3, W4 whose amount of steering is small are automatically steered for correction while the vehicle is unlikely to run off course. When the vehicle is highly likely to run off course, the front wheels W1, W2 are also automatically steered by a front-wheel actuator. |
