| 摘要 |
PURPOSE:To realize the smooth and stable steering which does not respond to the steering system by a minor change in the vehicle behavior. CONSTITUTION:An automatic steering device is provided with a steering actuator 2A to steer a steering wheel, a road condition recognizing means 4 to recognize the road condition, and a steering control means 5 to control thc steering actuator 2A, a deflection angle detecting means 4A is provided in the road condition recognizing means 4, and the steering control means 5 is provided with a deflection angle converting means 5B to convert the detected deflection angle value to the deflection angle value for the steering control and a control amount setting means 5A to set the control amount of the steering actuator 2A are provided. The deflection angle value converting means 5B is provided with the dead zone where the deflection angle value for the steering control is set zero when the detected deflection angle value is smaller than the prescribed value, and the hysterisis to increase/decrease the steering angle with the characteristic where the deflection angle value for the steering control is increased/decreased according to the detected deflection angle value when the detected deflection angle value is larger than the prescribed value, and the detected deflection angle value is different in the decreasing tendency and the increasing tendency. |
