| 摘要 |
PROBLEM TO BE SOLVED: To permit precise automatic parking by preventing the discrepancy of a moving locus while minimizing time required for automatic parking. SOLUTION: This automatic steering system for a vehicle steers front wheels by a steering actuator on the basis of a moving locus previously stored as the relation of a normative steering angleθref of a steering wheel to the moving distance X of the vehicle. In this constitution, when the inclination of a moving locus line is madeΔθref/ΔX, and the maximum steering angle speed determined by the performance of the steering actuator is madeαmax, the limit vehicle speed Vlim during automatic steering control is set by Vlim (ΔX/Δθref).αmax. This can prevent the discrepancy of the moving locus generated by the actuation delay of the steering actuator 7 caused by the overspeed of the vehicle. |
