| 摘要 |
PURPOSE:To improve tracking performance corresponding to change of a curved passage, to mitigate sudden change of steering angle against acute change of the course, and to obtain stable running performance. CONSTITUTION:The deviations d-L1, d-L2 between the extending line O of the center of a vehicle and on objective course passing through the center of the vehicle are computed at a near watching position L1 and a far watching position L2, further a estimated course of the vehicle at the respective watching positions L1, L2 are computed out of steering angle, vehicle speed, etc., and the deviations epsilon-L1, epsilon-L2 between the estimated course and the objective course are computed. Based on the computed deviations d-L1, d-L2, epsilon-L1, epsilon-L2, it is judged whether the course is a straight line or a curved passage of large curvature, or a steady curved passage, or the other. A steering angle computing equation selecting means selects a model equation at setting the steering angle. When the model equation is changed from primary steering angle estimating equation to secondary near point estimation equation and this secondary estimation equation is corrected by primary delay correcting value, the vehicle is controlled to slowly approach the objective course. |
