| 摘要 |
PROBLEM TO BE SOLVED: To recognize a driver's intention of stopping automatic operation to stop automatic operation by completing automatic operation when torque added to a steering wheel exceeds the torque set value. SOLUTION: Deviation obtained by subtracting an actual steering angle detected by a position detector 5a fitted to a driving motor 5, from a target steering angle is inputted to compute the target value Tt1 of torque to be added to steering mechanism from the driving motor 5. The target value Tt1 of torque is inputted, and target torque Tt2 is made equal to Tt1 by a torque limiting means during automatic operation. The target torque Tt2 is outputted to a block 104, and the block 104 controls in such a way that torque outputted by the motor 5 is equal to the target torque Tt2 outputted from a block 103. When a signal Csw indicating the completion of automatic operation is inputted to the block 103, the target torque Tt2 is immediately made zero to completely limit the output of torque based on automatic control and to complete automatic operation. |
