| 摘要 |
PROBLEM TO BE SOLVED: To reduce manipulative burden on a driver and incompatibility sense giving thereto by automatically recovering the vehicle attitude disturbance of a vehicle itself caused by collision avoiding control when avoiding the collision of the vehicle itself and a car running on the opposite lane by automatic steering. SOLUTION: If there is possibility that a vehicle itself is collided with a car running on the opposite lane, sinusoidal wave-like transverse moving current I1 is supplied to the actuator of an electric power steering device and the vehicle itself is transversely moved so as to avoid the collision between the car running on the opposite lane. At the same time when transverse movement is started, a yaw rate is integrated so as to detect the yaw angle of the vehicle itself, and yaw angle correcting current I2 is superimposed on the transverse moving current I1 and supplied to the actuator so that the yaw angle is converged to 0 from the final stage of the transverse movement so as to recover the vehicle position to its original condition. Therefore, after avoiding the collision with the car running on the opposite lane, the vehicle attitude disturbance of the vehicle itself can be automatically recovered, and manipulative burden on a driver and incompatibility sense giving thereto can be reduced. |
