| 摘要 |
PURPOSE:To ensure the stable and automatic drive of a vehicle by always and automatically setting the optimum steering control gain to the shift against a designated course or the attitude (course parallelism) of the vehicle. CONSTITUTION:A steering angle operating part 8 operates and outputs an operated variable (alphaE-betaF) obtained by securing the primary connection between a parameter E corresponding to a course deviation and a parameter F corresponding to the course parallelism on a time base as a target steering angle (alpha, beta: multiplication coefficients). Then the steering angle drive control parts 9 and 11 control the drive of the steering angles so as to set them at the target value. The multiplication coefficient (control gain) is increased in terms of the parameter E in accordance with the increasing degree of the parameter E during a steering control operation and within a range where the parameter E is larger than the prescribed deviation width Eth. Then the parameter E if decreased is reset to the prescribed value. Thus the control gain is properly set in accordance with the curving degree of a designated course. Then the drive of a vehicle is controlled with high stability. |
