| 摘要 |
PROBLEM TO BE SOLVED: To stop work without inviting a sense of incongruity to a driver at the time of detecting abnormality of a device by constituting the device of a continuation means to continue automatic operation while controlling an automatic steering means by a means replaced for a steering angle decision means by taking precedence over an automatic operation stoppage means. SOLUTION: A controller 1 and an steering actuator 17 constitute a continuation means CL7 to continue automatic operation while controlling by a means replaced for a steering angle decision means CL2 by taking precedence over an automatic operation stoppage means CL5 until it is judged to be possible to stop automatic operation after a judgement means CL6 judges it to be impossible to stop automatic operation at the time of abnormality detection by an abnormality detection means CL4. At the time when the controller 1 functions as the continuation means CL7, automatic operation is continued at set car speed by outputting to a motor 29 of a throttle actuator 19 by inputting a signal from a car speed sensor 7 until it is judged to be possible to stop automatic operation after it is judged to be impossible to stop automatic operation. |
