| 摘要 |
PURPOSE: To correspond to the change of car speed and to shortly perform arithmetic processings by obtaining the distant forward side deviation as the car speed increases and calculating the steering angle by multiplying the control gain which decreases as the car speed increases by the forward side deviation. CONSTITUTION: The information on the center line of the car body and the center line of the road is given to a forward side deviating detecting part 3. The information on the forward side deviation (d) is given from the part 3. The part 3 calculates forward distance 1 by multiplying the constant by the car speed V, further, the forward side deviation (d) is calculated by subtracting the position of the center line of the road from the position of the center line of the car body in the calculated forward distance 1. A steering angle calculating part 1 obtains the control gain G from the car speed V, further the sterring angleθis calculated from the forward side deviation (d) and the control gain G. In this case, the steering angleθis obtained by obtaining the distant forward side deviation (d) as the car speed V is increased and multiplying it by the control gain G which decreases as the car speed V increases.
|
