AUTOMATIC STEERING DEVICE

摘要

PROBLEM TO BE SOLVED: To calculate a target steering angle for smoothly running a vehicle along a target running line by estimating a large steering angle required for a cornering with a balanced steering angle estimating means and by calculating a small deviation from the large steering angle as a compensation steering angle and by adding the compensation steering angle to the large steering angle. SOLUTION: A controller 20 for controlling the steering angleδf of a vehicle 1 is constituted by a Kalman filter KF modeled on a straight running state and a regulator gain Kr. The controller 20 is provided with a balanced steering angle estimating unit 23 for estimating a balanced steering angleδf0 produced in the vehicle 1 according to the curvature of a target running line based on the target steering angleδf of the vehicle 1 and an adder 24 for adding the balanced steering angleδf0 and a compensation steering angleΔδf to calculate the target steering angleδf . The balanced steering angle estimating unit 23 is a calculator which calculates the average value of the previous n target steering anglesδf (moving average) and outputs it as the balanced steering angleδf0 . The compensation steering angleΔδf is a steering angle for compensating a fine deviation about the balanced steering angleδf0 .