JP2888216B2 - Automatic steering system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reflect an intention of a driver while carrying out automatic steering by providing a driving operation command means, which directs an advance operation of a vehicle to the driver when a vehicle is in an automatic steering mode, and controlling an actuator, which gives steering torque to a steering wheel in compliance with a moving distance of the vehicle. SOLUTION: When an automatic steering mode is designated by a switching command circuit 16, a moving distance of an automobile is outputted from a driving condition detecting circuit 3 to a motor controlling circuit 4. Then, a steering angle command for a steering wheel 6 to the moving distance is calculated by mean of the motor controlling circuit 4, and on the basis of the steering angle command and a steering angle, an impressed voltage for a motor 5 is decided, and then, tires 7a, 7b are turned in compliance with the impressed voltage for the motor 5. For an automatic steering mode, a garage parking system and a garage starting system are prepared. When the garage starting system is performed, for example, a start of the automatic steering mode is informed to a driver by means of a display circuit 17 and a voice circuit 18 if a condition for a shift to the automatic steering mode is satisfied.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic steering system for a motor vehicle, and more particularly to an automatic steering system provided with a means for improving safety during automatic steering in a garage or parallel parking.

[0002]

2. Description of the Related Art Generally, garage parking and parallel parking are driving techniques that are difficult for drivers. In particular, a beginner may not be able to operate the steering wheel inadequately and must repeatedly turn over, and an automatic steering system that automatically performs garage entry and parallel parking is desired.

[0003] In general, a system for completely automatic garage parking using a proximity sensor or the like is conceivable. However, such a system requires a highly reliable sensor and is very frequent. It is necessary to configure the control system in consideration of the above scene setting, and it is very difficult to implement the control system.

Therefore, as a conventional car parking assist system, Japanese Patent Application Laid-Open No. 59-201082 and Japanese Patent Application Laid-Open No. 63-291200
As disclosed in Japanese Unexamined Patent Application Publication No. H11-107, there is known a device for instructing a driver on a steering angle of a steering wheel when entering a garage. The parking assist device described in Japanese Patent Application Laid-Open No. 59-201082 calculates the direction in which the vehicle should proceed based on information such as the input parking space and road width, and the detected vehicle position, and notifies the driver. It is. JP-A-63-2912
The parking guidance device described in Japanese Patent Publication No. 00 teaches a driver a traveling direction corresponding to a detected vehicle position so that the vehicle draws an exemplary guidance trajectory stored in advance.

On the other hand, automatic steering is recognized by photographing a line of an adjacent driving lane and automatically steering a steering wheel to an appropriate steering angle so as to keep the distance between the recognized line and the vehicle constant. Japanese Patent Laid-Open No. 60-37011 discloses an automatic steering apparatus capable of traveling on a high-speed passage without departing from a traveling lane.

[0006]

However, Japanese Patent Application Laid-Open No. 59-20 / 1984
The automatic steering system disclosed in Japanese Patent Publication No. 1082 and Japanese Patent Application Laid-Open No. 63-291200 only teaches a driver how to steer. It is difficult even for an expert to adjust the steering angle of the steering wheel to the ever-changing steering direction instruction and steering angle teaching, and there is a problem that a smooth and accurate trajectory cannot be drawn.

On the other hand, ideally, an automatic steering system that automatically performs both the steering operation and the traveling operation of the vehicle can be considered, and in such a system, the driver makes a quick decision on manual steering and reacts according to the situation. Is difficult to realize as an automatic function, and there is a problem that a complicated and very large-scale device is required.

In view of the above problems, an object of the present invention is to provide an automatic steering system that can reflect a driver's intention while performing steering automatically and can ensure high safety.

[0009]

According to a first aspect of the present invention, there is provided an automatic steering system including a steering wheel and an actuator for applying a steering torque to the steering wheel. Driving operation instructing means for instructing a driver to perform a traveling operation of
An automatic steering system, comprising: an actuator control circuit that controls the actuator according to a moving distance of a vehicle to perform predetermined steering; and an engine control device that controls an engine so that the vehicle speed is reduced to a predetermined value or less. .

According to a second aspect of the present invention, there is provided an automatic steering system including a steering wheel and an actuator for applying a steering torque to the steering wheel, wherein the driving operation of the vehicle is performed when the vehicle is in an automatic steering mode. Operation instruction means for instructing the driver, an actuator control circuit for controlling the actuator in accordance with the moving distance of the vehicle to perform predetermined steering, and stopping the vehicle when an operation different from the instruction of the operation operation instruction means is performed. An automatic steering system comprising a brake control device that controls a brake to perform the operation.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to FIG. FIG. 1 shows an embodiment in which the electric motor is applied to an actuator of a steering device. The control device 1 is a device that selects a control method and actually controls according to the method. The control device 1 includes a switching circuit 2, an operation state detection circuit 3, and a motor control circuit 4. The switching circuit 2 switches between two control modes, a power steering mode and an automatic steering mode, by a method described later. The operation state detection circuit 3 detects an operation state necessary for control, and outputs a detection amount required in the mode to the motor control circuit 4. Further, the motor control circuit 4 drives the motor 5 by a control method according to the mode selected by the switching circuit 2. The output gear of the motor 5 is engaged with a steering shaft 8 that connects the steering wheel 6 and the tires 7a and 7b, and assists the shaft. Note that a clutch 9 is provided between the motor 5 and the steering shaft 8, so that when the control device 1 does not operate, the tires 7a and 7b can be manually steered by the steering wheel.
The steering shaft 8, for detecting the steering angle theta _h of the steering torque τ and the steering wheel by the driver, respectively the steering torque sensor 10 and the steering angle detector 11 is attached.

Other vehicle speed detectors include a vehicle speed pulse generator 12 for measuring the number of rotations of a tire, and a gear position detector 13 for detecting a gear position. The detected amount detected from these is input to the operating state detection circuit 3. Also,
Power for the control device 1 is provided from a battery 14. Further, a signal from the switching command circuit 16 of the driver operation device 15 is input to the switching circuit 2 for performing the mode switching, and the control mode specified by the driver can be set.

From the switching circuit 2, a signal for informing the driver of the control mode and the driving method is transmitted to the driver operating device 15.
Are input to the display circuit 17 and the audio circuit 18. The display circuit 17 informs the driver by a display, and the audio circuit 18 notifies the driver by an audio.

Here, the two control modes will be described respectively.

[0015] When the driver wants to drive a power steering mode, switching Specifying a power steering mode instruction circuit 16, the switching circuit 2 that mode output by the mode signal S _M to the operating state detection circuit 3 and the motor control circuit 4 . The driver is also notified of the mode by the driver operation device 15.

Here, the driver operates the steering wheel 6.
Is steered, a steering torque detector 10 and a steering angle detector 11
Detected steering torque τ and the steering angle theta _h respectively are input to the operating state detection circuit 3 by. In the operating state detection circuit 3, the vehicle speed v is measured by the vehicle speed pulse P _V from the vehicle speed pulse generator 12, the vehicle speed v, the steering torque tau, and,
Steering angle theta _h is outputted to the motor control circuit 4. The motor control circuit 4, calculates the steering assist torque command tau _C corresponding to the steering torque tau, and controls the applied voltage V _M applied to the motor 5 by the steering assist torque command tau _C.

The applied voltage V _M is controlled by a power converter of a motor control circuit 4 using a battery 14 as a power supply. Thus, the steering assist torque τ _M is generated from the motor 5 and is applied to the steering shaft 8 through the clutch 9. With the steering assist torque τ _M and the steering torque τ, the tires 7a,
7b is turned. Through this series of operations, the driver can steer the tires 7a and 7b with a small steering torque τ. Further, by correcting the steering assist torque command τ _{C based} on the vehicle speed v, the vehicle speed responsive control can be performed so that the steering torque is small during low-speed operation and is not too small during high-speed operation.

Next, the operation in the automatic steering mode will be described. When the driver wants to drive an automatic steering mode, switching Specifying the automatic steering mode by the command circuit 16, the switching circuit 2 outputs this by mode signal S _M to the operating state detection circuit 3 and the motor control circuit 4. The driver is also notified by the driver operation device 15. In this case, the movement distance l automobile obtained from the steering angle theta _h and the vehicle speed pulse P _V from the operation state detection circuit 3 to the motor control circuit 4 is outputted.

The motor control circuit 4 calculates the steering angle command θ _C of the steering wheel with respect to the moving distance 1 of the vehicle necessary for automatic steering by a method described later. Next, determines the applied voltage V _M of the motor 5 from the steering angle command theta _C and the steering angle theta _h. Thus, the tires 7a and 7b are turned by the torque output from the motor 5. That is, the tires 7a and 7b can be automatically steered according to the moving distance 1 of the vehicle.

Here, the sequence of switching between the two modes, which is a feature of the present invention, will be specifically described.

FIG. 2 shows a driver operation device 1 operated by the driver.
5 shows an operation panel. The operation panel includes five operation buttons 19a to 19e.
And the display circuit 17. Among the operation buttons, the power steering button 19a is for switching the control mode to the power steering mode, and the other four buttons 19b to 19e are buttons for switching to the automatic steering mode. The driver operates the power steering button 19a
When the button is pressed, a signal is input from the switching command circuit 16 to the switching circuit 2, and the power steering mode is set and the operation is controlled by the above-described operation. At that time, the switching circuit 2 transmits the mode to the display circuit 17 of the driver's operation device 15 to inform the driver that the mode has been set, and turns on the power steering button 19a. In addition, buttons 19b to 19
When any of e is pressed, the automatic steering mode is set, and the pressed button is turned on. In this embodiment, four automatic steering modes are prepared: a garage entry system, a parallel parking system, a garage exit system, and a column retrieval system. FIG. 3 shows a stop position in the garage parking system.

FIG. 3A shows a stop position of the automobile 20 at which the garage type automatic steering is started. Also,
(B) shows the stop position of the vehicle 20 at the time of changing from forward to reverse in the automatic steering mode, and (C) shows the stop position of the vehicle 20 in the state where the garage is completed and the automatic steering mode is released.

FIG. 4 shows the relationship between the moving distance 1 of the automobile 20 and the steering angle command θ _C in the automatic steering mode in the garage.
FIG. 4A shows when the vehicle is moving forward, and FIG. 4B shows when the vehicle is moving backward. By giving the steering angle command θ _C using such a function, the automatic steering shown in FIG. 3 can be performed. This function is calculated in advance based on the width, length, and tire size of the vehicle body of the automobile 20 so as to be optimal for automatic steering, and stored in the control device 1 as a table.

FIG. 5 is a flowchart showing a sequence of the switching circuit 2 during automatic steering. Here, an example of the garage parking system will be described.

The driver stops the vehicle 20 at the start position of the automatic steering mode, that is, at the position shown in FIG. In addition, by setting the position just beside the end of the garage as the target position for stopping the vehicle, the stopping accuracy of the stop position can be improved, so that the garage can be accurately entered.

Here, when the garage input button 19b shown in FIG. 2 is pressed, a signal of an automatic steering mode for garage input is input from the switching command circuit 16 to the switching circuit 2. Then, the flow of FIG. 5 is started, and in step 101, it is checked whether the condition for shifting to the automatic steering mode is satisfied. The conditions include (1) that the vehicle 20 is stopped,
(2) The driver is not steering the steering wheel 6.

These may be confirmed by confirming that the vehicle speed v is 0 and the steering torque τ is equal to or less than the allowable torque value τ _MIN .
If this condition is not satisfied, the routine jumps to step 110, where the display circuit 17 and the voice circuit 18 notify the driver of the power steering mode.

When the conditions of the automatic steering mode are satisfied,
In step 102, the display circuit 17 and the audio circuit 18 notify the driver of the start of the garage automatic steering mode.
During the automatic steering mode, the voice circuit 18 always informs the automatic steering mode at regular intervals. For example, the driver can recognize that the vehicle is in the automatic steering mode by continuously sounding “beep, beep, beep”.

In the next step 103, the operation state detection circuit 3 and the motor control circuit 4 are informed of the transition to the automatic steering mode. In step 104, the driver is instructed on the driving method of the automobile. In the case of a garage parking system, there are four stages. First, as shown in FIG. 3B, in the first stage, the vehicle has to be advanced, so that the driver is notified of the instruction to advance using the audio circuit 18. Step 1
05 detects the driving state of the driver and checks driving different from the method assumed in the automatic steering mode. The items include (1) that the driver is not steering the steering wheel, (2) that the vehicle is not moving in a direction different from the instruction, and (3) that the time longer than the set automatic steering mode time _tMIN. (4) that the vehicle speed is equal to or less than the vehicle speed limit value, (5) that the driver has not pressed the power steering button,
(6) When the driving method is instructed to stop, the moving distance after instructing the stop command does not exceed the limit distance. Of these items, (2), (3), (4),
(6) is to confirm that the driver is operating as expected in the automatic steering mode. Also, (1) indicates that when the steering torque τ is equal to or larger than the torque limit value,
This is for determining that the driver wants to shift from the automatic steering mode to the power steering mode for safety. (5) is to judge that the driver has directly displayed the intention to shift to the power steering mode.

If any one of these items is not satisfied, a process for notifying the driver of the interruption of the automatic steering mode is performed in step 108. Then step
Jump to 109. Also, in step 105,
If all the checked items are satisfied, the process of step 106 is performed. In step 106, it is determined whether or not the instructed driving method of the automobile 20 is to be changed.

In this determination method, when the vehicle is instructed to move forward or backward, it is determined that the vehicle has traveled a predetermined moving distance. Further, when the stop of the vehicle is instructed, it is determined that the vehicle speed of the vehicle has become zero. Therefore, in the first stage, the vehicle is instructed to move forward, and when the vehicle reaches the moving distance set in the automatic steering mode by the garage parking method, step 1 is executed.
Jump to 07, otherwise go to step 10
Step 5 is repeated. When jumping to step 107, the vehicle has been automatically steered to the position shown in FIG. In step 107, it is determined whether all the steps of the automatic steering mode have been completed.

When the vehicle has moved forward by a predetermined moving distance in the first stage, the process jumps to step 104 to instruct the second stage. In the second stage, the driver is instructed to stop the vehicle 20. In the next steps 105 and 106, similarly to the first stage, it is checked whether the driver stops according to the instruction. If the vehicle stops within the movement limit value after the stop instruction, the process jumps to step 104 through step 107. In this step 104, the automatic steering mode for garage parking is to instruct the driver to reverse as the third stage instruction in order to reverse the vehicle.
When the driver moves the vehicle 20 backward according to this, the vehicle is automatically steered in accordance with the moving distance, and thus, FIG.
Can be moved to the position. During this time, after the switching circuit 2 repeats steps 105 and 106, when the predetermined moving distance of the third stage is reached, step 1
07, jump to step 104.

In the fourth step, the vehicle is instructed to stop, and the operation is performed in the same manner as in the second step. When the driver stops the vehicle 20, all the steps are completed, that is,
Since the garage is completed, the process jumps from step 107 to step 109. In this step 109, the display circuit 17 and the audio circuit 18 notify the driver of the change to the power steering mode, and the automatic steering mode ends.

Therefore, according to the present embodiment, the power steering function and the automatic steering function can be performed by one motor by switching the control method of the motor by the switching device, so that an inexpensive steering device can be configured. . It should be noted that automatic steering can be performed in parallel parking, garage parking, and parallel parking only by changing the steering angle command θ _C for the moving distance l.

FIG. 6 shows an embodiment of a method for performing feedback control of a parking position using road surface information. 6, a device added to the configuration of FIG. 1 is a road surface detection device 21 controlled by the control device 1. This road surface detection device 2
Reference numeral 1 denotes a light emitting device 22 for generating light for detection and a light receiving device 23 for receiving the reflected light. In the automatic steering mode, the light emitting device 22 is controlled by a signal from the control device 1.
Emits light in the direction of the road surface. A reflector 24 for detecting a road surface position is provided on the road surface. The reflector 24 is installed at a predetermined position for the operation method in the automatic steering mode. The light from the light emitting device 22 is reflected by the reflection plate 24.
When the light is reflected by the light, the light receiving device 23 can receive the reflected light. Therefore, whether the light receiving device 23 has received the reflected light is input to the control device 1. Thereby, the control device 1 can detect the position and the angle of the automobile 20 and correct the steering angle command of the steering wheel 6.

Next, a control method in the automatic steering for garage parking will be described with reference to FIG. As shown in FIG. 7A, an x-axis reflector 24a for detecting the position and angle of the vehicle 20 in the x direction, and y for detecting the position of the vehicle 20 in the y direction.
The axis reflection plate 24b is arranged. It is assumed that the vehicle stops at the position shown in FIG. 7B and the automatic steering mode is started from this position.
First, the steering angle command is set to 0 and the vehicle is advanced. When the state shown in FIG. 7C is reached, the left road surface detecting device 21a is moved to the x-axis reflecting plate 24a.
Detect the position of. Then, when the vehicle advances forward by the distance a, the right road surface detecting device 21b detects the position of the x-axis reflector 24a as shown in FIG. 7D. Thus, the position of the vehicle in the x-axis direction and its angle can be calculated. Based on this, the subsequent steering angle command is controlled, and the vehicle advances to the position shown in FIG. 7E by automatic steering. If either of the left and right road surface detecting devices 21a and 21b cannot detect the x-axis reflector 24a within the preset limit distance, it is assumed that the start position in the y-axis direction is significantly different. Stop automatic steering. Next, FIG.
Go back to (F). At this time, since the position in the x-axis direction has been accurately detected, the possibility of contacting an adjacent location is very small. Then, in FIG. 7F, the left road surface detection device 21a detects the position of the y-axis reflection plate 24b. When the vehicle is further moved backward, the right road surface detection device 21b detects the position of the y-axis reflection plate 24b in FIG.
The position in the y-axis direction can be obtained from the two. Therefore, the vehicle 20 can be accurately moved backward to a predetermined position. Therefore, according to the present embodiment, the vehicle can be automatically steered to a more accurate position, so that the contact of the vehicle can be reduced.

FIG. 8 shows another embodiment in which the engine output is suppressed in automatic steering. Figure 8 is to have an engine control unit 25 which is controlled by an engine control signal S _B from the circuit 2 switch differs from the FIG.

When the switching circuit 2 is in the automatic steering mode, the engine is controlled as follows. Switching circuit 2
Inputs the vehicle speed v from the driving state detection circuit 3 and compares it with the automatic steering limit speed v _MAX in the automatic steering mode. The automatic steering limit speed v _MAX is set in advance to a low speed at which safety is ensured. The switching circuit 2, so that the vehicle speed v does not exceed the automatic steering speed limit v _MAX, calculates a maximum engine output command P _E, and outputs it to the engine control unit 25.

Accordingly, when the vehicle speed v becomes equal to the automatic steering limit speed v
If it exceeds _MAX , the engine maximum output command _PE is reduced. The engine control unit 25, the engine output if it is within maximum engine output command P _E, to control the engine output in accordance with the accelerator operation of the driver. In addition,
Engine output is controlled by electronic throttle and air-fuel ratio. Here, when the engine output is about to exceed the maximum engine output command P _E, the engine controller 25 so that the maximum engine output command P _E, for controlling the electronic throttle and the air-fuel ratio. By controlling as described above,
In the automatic steering mode, the vehicle speed v is set to the automatic steering limit speed v
You can move within _MAX . In the power steering mode, normal engine control can be performed by setting the engine maximum output command _PE to the maximum rating of the engine output.

By using this embodiment, the speed of the vehicle can be restricted during automatic steering, so that the safety can be improved and the damage can be minimized even in the event of contact with a wall or the like. it can. Further, at that time, since the vehicle moves only at a low speed, errors due to control delay, detection delay, and the like can be reduced, so that the stop position at the end of automatic steering can be stopped accurately at a predetermined position.

FIG. 9 shows another embodiment different from FIG. 8 in that a brake control device 26 which can be controlled by a signal from the switching circuit 2 is added.

When the switching circuit 2 is in the automatic steering mode, as described above, the switching circuit 2 checks whether an operation different from the method assumed in the automatic steering mode is performed.
The check items may be the same as those described above,
Since the vehicle speed is controlled to operate below the vehicle speed limit value, this need not be checked. As a result of the check, if it is determined that the vehicle is operating differently, the switching circuit 2 outputs a brake operation signal to the brake control device 26. When the brake operation signal is input, the brake control device 26 applies a braking force to each tire of the automobile using the hydraulic cylinder. The brake control device 26 is operated until the vehicle stops. The switching circuit 2 confirms that the vehicle speed has become 0, and releases the brake operation signal. As a result, the brake control device 26 sets the braking force to zero. Next, the switching circuit 2 changes the operation method from the automatic steering mode to the power steering mode.

By performing the above operations, when the driver drives the vehicle differently from the assumed method in the automatic steering mode, the vehicle is temporarily stopped, and then operates as a normal power steering device. An enhanced automatic steering device can be provided.

In the automatic steering mode, when a stop command is issued, even if the driver delays the operation of the brake pedal, the vehicle is automatically stopped, so that there is an advantage that the vehicle can be parked at an almost assumed position. .

The embodiment of the present invention has been described above, and the example in which the electric motor is used as the actuator has been described. However, a driving device using hydraulic pressure for the actuator may be used. Here, the garage is taken as an example of automatic steering, but it goes without saying that the present invention can be similarly applied to parallel parking, starting from a garage or parallel parking, and the like. Garage entry, parallel parking, and the like can be applied only by changing the function of automatic steering even if the approach direction is reversed. Further, it is clear that a contact sensor can be arranged in each part outside the automobile, and thereby a device for generating a warning or the like to a driver can be added.

[0046]

According to the first aspect of the present invention, the driver is instructed to perform a traveling operation, and as a result, predetermined steering is performed according to the distance moved, and the vehicle speed is reduced to a predetermined value or less during automatic steering. By controlling the engine in order to prevent the vehicle from stopping too quickly due to the driver's mistake, the safety during automatic steering can be sufficiently improved. Can be secured.

According to the second aspect of the present invention, the driver is instructed to perform a forward operation, and as a result, predetermined steering is performed according to the traveled distance, and the vehicle is stopped when driving different from the instruction is performed. By controlling the brake,
The vehicle can be stopped by the driver's prompt determination of the situation, and reverse running due to the driver's mistake can be prevented, and safety during automatic steering can be sufficiently ensured.

[Brief description of the drawings]

FIG. 1 is a schematic diagram of a steering device of the present invention when a motor is applied as an actuator.

FIG. 2 is a plan view of an operation panel of the driver operation device in FIG. 1;

FIG. 3 is a schematic diagram showing an automatic steering method for garage parking.

FIG. 4 is a graph showing a relationship between a moving distance of a vehicle and a steering angle command in automatic steering in a garage.

FIG. 5 is a flowchart showing a sequence of a switching circuit in an automatic steering mode.

FIG. 6 is a schematic diagram of another steering device that performs feedback control of a parking position using road surface information.

FIG. 7 is a schematic diagram showing a control method of automatic steering when entering a garage in FIG. 6;

FIG. 8 is a schematic diagram of still another steering device that controls an engine control device to limit a vehicle speed in an automatic steering mode.

FIG. 9 is a schematic diagram of a steering device showing another embodiment in which brake control is combined.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Control device, 2 ... Switching circuit, 3 ... Operation state detection circuit, 4 ... Motor control circuit, 5 ... Electric motor (actuator), 6 ... Steering wheel, 7a, 7b ... Tire, 8 ... Steering shaft, 9 ... Clutch , 10 ...
Steering torque detector, 11: steering angle detector, 12: vehicle speed pulse generator, 13: gear position detector, 14: battery, 15: driver operation device, 16: switch command circuit, 1
7 display circuit, 18 audio circuit, 19 operation buttons, 2
0: automobile, 21: road surface detecting device, 22: light emitting device, 2
3 ... light receiving device, 24 ... reflector, 25 ... engine control device, 26 ... brake control device.

────────────────────────────────────────────────── ─── Continuation of the front page (72) Kiichi Hoshi Inventor, Hitachi, Ltd., Sawa Plant, 2520 Takada, Katsuta, Ibaraki Prefecture (56) References JP-A-61-263851 (JP, A) 3-74256 (JP, A) JP-A-59-201082 (JP, A) JP-A-3-200480 (JP, A) JP-A-63-291200 (JP, A) (58) Fields investigated (Int. Cl. ⁶ , DB name) B62D 6/00

Claims (2)

(57) [Claims] 1. An automatic steering system comprising a steering wheel and an actuator for applying a steering torque to the steering wheel, a driving operation instructing means for instructing a driver to advance the vehicle when the vehicle is in an automatic steering mode. And an actuator control circuit for controlling the actuator in accordance with a moving distance of the vehicle to perform a predetermined steering, and an engine control device for controlling an engine to reduce the vehicle speed to a predetermined value or less. . 2. An automatic steering system comprising a steering wheel and an actuator for applying a steering torque to the steering wheel. A driving operation instructing means for instructing a driver to advance the vehicle when the vehicle is in an automatic steering mode. An actuator control circuit for controlling the actuator in accordance with a moving distance of the vehicle to perform predetermined steering; and a brake control for controlling a brake to stop the vehicle when an operation different from the instruction of the operation instruction unit is performed. An automatic steering system comprising a device.