| 摘要 |
PROBLEM TO BE SOLVED: To prevent the behavior of a vehicle from becoming unstable, when the vehicle is shifted into a steerable state by steering input of a driver after releasing an automatic steering, by holding the steering angle in a failure of a control system, judging the presence/absence of the steering input of the driver, and releasing the steering angle holding, when the driver inputs the steering. SOLUTION: External signals such as a vehicle leading signal from a transmitter provided on a traveling road and a guard rail, and an alarm signal informing the collision risk from a transmitter of another vehicle are inputted in a receiver 28 connected to a main controller 21. The main controller 21 outputs control signals corresponding to the necessary steering quantity for leading the vehicle in the prescribed direction to a steering controller 22 base on the external signals. The steering controller 22 issues a drive signal to a motor 9 for securing the necessary steering quantity by deviation between the control signal and the steering quantity detection signal from the steering quantity sensor 26. When the releasing of the automatic steering is unnoticed by the failure of the control system 20 so as to have no steering input of a driver, this constitution can hold the steering angle, prevent the behavior of the vehicle from being unstable, and release the steering angle holding by the steering input so as to be steerable. |
