| 摘要 |
PROBLEM TO BE SOLVED: To prevent generation of the same behavior as rapid steering operation done when a steering wheel is locked at bump in a road, by taking it as abnormal if a deviation of the operating angle of the steering wheel from the steering angle of a steering wheel exceeds a prescribed value, and performing control so as to stop a steering motor. SOLUTION: If a tire 7 halls into a ditch to become incapable of steering rotation, a deviation of the operating angle signal of a steering wheel from the steering angle signal exceeds its maximum permissible level, therefore, an abnormality detecting part 13 determines it as abnormal and outputs an abnormality signal to a traveling control part 18, a switch control part 14, and an abnormality warning means 36. The traveling control part 18, if an abnormality signal is inputted thereinto, decelerates a car or stops it by reducing the current supplied to a traveling motor 38, and actuating a brake 37. Therefore, a steering motor 35 is stopped by detecting that a tire 7 does not follow steering operation, thus it is possible to prevent generation of the same behavior as rapid steering operation at the time of crossing over the bump of a ditch. |
