JP4449675B2 - Automatic steering device - Google Patents

Description

  The present invention relates to an automatic steering device, and more particularly to an automatic steering device suitable for parking a vehicle without depending on a steering operation of a vehicle driver.

  2. Description of the Related Art Conventionally, there is known an automatic steering device that automatically controls vehicle steering in parallel parking or reverse parking without depending on a steering operation of a vehicle driver (for example, see Patent Document 1). This automatic steering device includes a rotation amount detection means (wheel speed sensor) for detecting the rotation amount of a wheel so as to detect the movement amount of the vehicle. In such a device, the movement amount of the vehicle is calculated from the rotation amount of the wheel by the rotation amount detection means in the course of automatic steering. Then, a steering angle to be realized in the vehicle is calculated from the relationship between the movement amount and the movement locus of the vehicle to the target parking position, and the steering actuator is automatically controlled so that the steering angle is realized.

Further, when it is determined by the rotation amount detection means that the vehicle returns backward in the direction opposite to the traveling direction along the target movement locus, the steering actuator is used to prevent the vehicle from deviating from the original movement locus. The automatic steering by is stopped or the controlled steering angle is corrected.
JP-A-10-167104

  By the way, in order to determine whether or not the vehicle returns, it is necessary to detect the rotation direction of the wheels. In general, the rotation amount detection means described above is provided for each wheel because it is used for performing ABS (Antilock Brake System) control, VSC (Vehicle Stability Control System) control, and the like. In this regard, although a high-function rotation amount detection means that can detect the rotation direction of the wheel exists, the rotation amount detection means that cannot detect the rotation direction of the wheel is extremely expensive and the sensor size is large. When such a high-function rotation amount detection means is used as the rotation amount detection means provided for each vehicle, the manufacturing cost of the vehicle increases, the sensor mounting performance deteriorates, and the unsprung weight of the wheel increases. Inconvenience occurs.

  The present invention has been made in view of the above points, and is an automatic steering apparatus capable of accurately calculating vehicle movement information without using a high-function wheel speed sensor capable of detecting the rotation direction of a wheel. The purpose is to provide.

The above objects, an automatic steering apparatus comprising an automatic steering means for automatically controlling the steering actuator so that the steering angle corresponding to the position of the vehicle relative to the target movement locus can be achieved according to the target movement locus of vehicles A wheel speed sensor for detecting the amount of rotation of the wheel that cannot detect the rotation direction of the wheel, an acceleration sensor for detecting acceleration in the longitudinal direction of the vehicle, a detection result by the wheel speed sensor, and a detection result by the acceleration sensor Based on the above, this is achieved by an automatic steering apparatus comprising movement information calculation means for calculating an actual movement amount and movement direction of the vehicle for grasping the position of the vehicle.

  In the present invention, the movement information including the actual movement amount of the vehicle is based on the detection result by the wheel speed sensor for detecting the rotation amount of the wheel and the detection result by the acceleration sensor for detecting the acceleration in the longitudinal direction of the vehicle. Is calculated. The amount of movement of the vehicle usually has a correlation with the amount of wheel rotation detected using a wheel speed sensor. Moreover, according to the time change of the acceleration in the longitudinal direction of the vehicle by the acceleration sensor or its integrated value, it is determined whether the vehicle moves in the traveling direction along the target movement locus or in the opposite direction. can do. Therefore, it is possible to accurately calculate the movement information including the movement amount and the movement direction of the vehicle without using a highly functional wheel speed sensor capable of detecting the rotation direction of the wheel.

Further, the above object is achieved by the automatic steering apparatus having an automatic steering means for automatically controlling the steering actuator so that the steering angle corresponding to the position of the vehicle relative to the target movement trajectory according to the target movement locus of the vehicles is realized Based on the wheel speed sensor for detecting the rotation amount of the wheel that cannot detect the rotation direction of the wheel, the camera for photographing the periphery of the vehicle, the detection result by the wheel speed sensor, and the captured image by the camera , This is achieved by an automatic steering apparatus comprising movement information calculation means for calculating an actual movement amount and movement direction of the vehicle for grasping the position of the vehicle .

  In the present invention, the movement information including the actual movement amount of the vehicle is calculated based on the detection result by the wheel speed sensor for detecting the rotation amount of the wheel and the captured image by the camera that captures the periphery of the vehicle. The amount of movement of the vehicle usually has a correlation with the amount of wheel rotation detected using a wheel speed sensor. Further, according to the time change of the captured image by the camera, the vehicle moves in the traveling direction along the target movement trajectory or moves in the opposite direction based on the stationary object shown in the captured image. You can decide whether to do it. Therefore, it is possible to accurately calculate the movement information including the movement amount and the movement direction of the vehicle without using a highly functional wheel speed sensor capable of detecting the rotation direction of the wheel.

In this case, in the above-described automatic steering apparatus, as a result of the actual movement amount and movement direction of the vehicle being calculated by the movement information calculating means , the vehicle returns backward in the direction opposite to the traveling direction along the target movement locus. If the control end means for ending the automatic control of the steering actuator by the automatic steering means is provided when the vehicle is in the back-turning state, the automatic steering of the vehicle is prevented from deviating from the target movement locus. Can do.

Further, in the above-described automatic steering device, the automatic steering means calculates the traveling direction of the vehicle along the target movement locus as a result of calculating the actual movement amount and movement direction of the vehicle by the movement information calculation means. When the vehicle is in a backward movement state in which the vehicle travels back in the opposite direction, the steering actuator is automatically operated so that the steering angle corresponding to the position of the vehicle with respect to the target movement locus is realized according to the target movement locus with the traveling direction reversed. If the control is performed, the vehicle can be moved back along the target movement trajectory.

Further, in the above-described automatic steering device, when the actual movement amount and the movement direction of the vehicle are calculated by the movement information calculation means, the automatic steering means when the vehicle is in the idling state where the wheels are idling. If the control end means for ending the automatic control of the steering actuator is provided, it is possible to prevent the automatic steering of the vehicle from deviating from the target movement locus.

Further, in the above-described automatic steering apparatus, the movement information calculation means calculates the actual movement amount and the movement direction of the vehicle, and when the vehicle is in a wheel idling state in which the wheels idle, If the movement amount is maintained without being updated, the vehicle movement information is accurately calculated after the idling state is resolved even if the wheel falls into the idling state, so that the vehicle is again moved along the target movement locus. Can be made.

Further, in the above-described automatic steering apparatus, as a result of calculating the actual movement amount and the movement direction of the vehicle by the movement information calculation means, the automatic steering device is used when the vehicle is in a slip state where the wheels slide on the road surface. If the control end means for ending the automatic control of the steering actuator by the steering means is provided, it is possible to prevent the automatic steering of the vehicle from deviating from the target movement locus.

  In addition, as described in claim 8, in the automatic steering apparatus according to claim 1, the acceleration sensor is a sensor used to determine whether to activate an airbag that protects a vehicle occupant. Thus, there is no need to provide a dedicated acceleration sensor for automatic steering by the steering actuator, and automatic steering can be executed using an existing acceleration sensor.

By the way, in the above-described automatic steering apparatus, the movement information calculation means is configured such that the output of the acceleration sensor advances along the target movement locus while the wheel rotation amount detected by the wheel speed sensor changes. when the state of the direction is intended to accelerate the opposite turning back side continues for a predetermined time, the traveling direction of vehicles is along the target movement trajectory is also possible to determine that in turning back the state of backtracking in the opposite direction Good.

Further, in the above-described automatic steering apparatus, the movement information calculation means is configured such that the integrated value of the output of the acceleration sensor advances along the target movement locus in a state where the wheel rotation amount detected by the wheel speed sensor changes. upon reaching a predetermined value of the opposite backtracking side to the direction, may be judged to be in turning back the state of backtracking in the opposite direction to the traveling direction vehicles is along the target movement locus.

Further, in the above-described automatic steering apparatus, the movement information calculating unit continues a state in which the output of the acceleration sensor is in the vicinity of an initial value for a predetermined time while the wheel rotation amount detected by the wheel speed sensor changes. when, may be vehicles is determined to be idle wheel slipping state of the wheel.

In the above-described automatic steering apparatus, the movement information calculation means includes a first movement amount calculation value based on a wheel rotation amount by the wheel speed sensor and an output of the acceleration sensor or a second value based on an integrated value of the output. when the deviation between the movement amount calculated value exceeds a predetermined value, may be vehicles is determined that the wheel is in a slip state slipping relative to the road surface.

In the above-described automatic steering apparatus, the movement information calculation unit calculates an actual movement amount and a movement direction of the vehicle by using an output of the acceleration sensor when automatic control of the steering actuator is started as an initial value. You can do that.

Further, in the above-described automatic steering apparatus, the movement information calculation means is a traveling direction along the target movement trajectory in the image captured by the camera in a state where the wheel rotation amount detected by the wheel speed sensor is changed. when a change moving in the opposite turning back side occurs, may be determined to be in turning back the state of backtracking in the opposite direction to the traveling direction vehicles is along the target movement locus.

In the automatic steering apparatus described above, the moving information calculating unit, in a state where the wheel rotation amount detected by the wheel speed sensor changes, when the no change in the image captured by the camera, vehicles have wheels It may be determined that the wheel is idling.

Furthermore, in the above-described automatic steering apparatus, the movement information calculation means includes a first movement amount calculation value based on a change in wheel rotation amount by the wheel speed sensor and a second movement amount based on a change in a captured image by the camera. when the deviation between the calculated value exceeds a predetermined value, may be vehicles is determined that the wheel is in a slip state slipping relative to the road surface.

  According to the present invention, it is possible to accurately calculate movement information including a movement amount and a movement direction of a vehicle without using a high-performance wheel speed sensor capable of detecting the rotation direction of the wheel.

  Hereinafter, specific embodiments of the present invention will be described with reference to the drawings.

  FIG. 1 is a system configuration diagram of an automatic steering apparatus 10 mounted on a vehicle according to a first embodiment of the present invention. The automatic steering apparatus 10 according to the present embodiment is a vehicle that follows a target movement trajectory to a target parking position on a road surface on which a vehicle is to be parked when a vehicle is parked, such as garage parking or parallel parking, as desired by a vehicle driver. Is a device that performs automatic steering control so that the vehicle is automatically steered without being operated by the driver.

  In this embodiment, the vehicle includes a steering wheel 12 that is operated by the driver, a pair of front wheels FR, FL, and a pair of rear wheels RR, RL. A steering shaft 14 that rotates integrally with the steering wheel 12 is connected to the steering wheel 12. A pinion 16 is formed at the end of the steering shaft 14. A rack 18 meshes with the pinion 16. Tie rods 20 are provided at both ends of the rack 18. Front wheels FR and FL are connected to the tie rod 20 via a knuckle 22.

  A steering actuator 24 made of an electric motor is mechanically connected to the steering shaft 14 via a worm gear 26. The steering actuator 24 generates torque for steering the vehicle without steering operation by the driver during parking of the vehicle such as garage parking or parallel parking as described later, and applies the torque to the steering shaft 14.

  The automatic steering apparatus 10 includes an electronic control unit (hereinafter referred to as ECU) 30 that is configured mainly by a computer. The steering actuator 24 described above is electrically connected to the ECU 30, and a steering angle sensor 32 disposed on the steering shaft 14 is connected to the ECU 30. The steering angle sensor 32 outputs a signal corresponding to the steering angle of the steering wheel 12. The output signal of the steering angle sensor 32 is supplied to the ECU 30. The ECU 30 detects the steering angle of the steering wheel 12 based on the output signal of the steering angle sensor 32, and detects the steering angles of the front wheels FL and FR as the steered wheels. Further, the ECU 30 supplies a command signal to the steering actuator 24 so that a target steering angle set as described later is realized.

  A wheel speed sensor 34 disposed on each wheel is connected to the ECU 30. Each wheel speed sensor 34 is configured using, for example, a magnetoresistive element, and outputs a pulsed signal at a period corresponding to the rotational speed of each wheel. The wheel speed sensor 34 does not have a rotation direction detection function for distinguishing between the left rotation direction and the right rotation direction of the wheel, and outputs the same signal when the absolute values of the rotation speeds in both directions are the same. To do. The output signal of each wheel speed sensor 34 is supplied to the ECU 30. The ECU 30 detects the rotational speed of the wheel, that is, the rotational angle per unit time based on the output signal for each wheel speed sensor 34. And the speed and moving distance of a vehicle are detected based on the relationship between the rotation angle of these wheels, and an outer diameter. The wheel speed sensor 34 may be any sensor that is used for ABS control for preventing wheel locking, VSC control for stabilizing the turning behavior of the vehicle, or the like.

  An acceleration / deceleration sensor 36 is also connected to the ECU 30. The acceleration / deceleration sensor 36 is an electronic sensor composed of a semiconductor or a mechanical sensor composed of a spring and a weight, and outputs a signal corresponding to the acceleration / deceleration generated in the longitudinal direction of the vehicle. An output signal from the acceleration / deceleration sensor 36 is supplied to the ECU 30. The ECU 30 detects the acceleration / deceleration generated in the longitudinal direction of the vehicle based on the output signal of the acceleration / deceleration sensor 36. The acceleration / deceleration sensor 36 may be any sensor that is used for airbag activation control or the like that determines whether or not an airbag that protects a vehicle occupant is activated by determining the presence or absence of a collision occurring in the vehicle. In addition, the sensor output value of the acceleration / deceleration sensor 36 increases as the acceleration toward the front of the vehicle increases, and decreases as the acceleration toward the rear of the vehicle increases.

  The ECU 30 is further connected to a mode selection switch 40 and an automatic steering start switch 42 operated by the vehicle driver. The mode selection switch 40 is a switch for selecting a garage parking mode for performing garage parking behind the vehicle or a tandem parking mode for performing parallel parking obliquely behind the vehicle as a mode for performing automatic steering control. is there. The automatic steering start switch 42 is a switch for starting automatic steering control. The ECU 30 determines which parking mode is selected based on the state of the mode selection switch 40 and also determines whether automatic steering control should be started based on the state of the automatic steering start switch 42. .

  Hereinafter, the operation of the automatic steering apparatus 10 of the present embodiment will be described.

  In the automatic steering device 10 of the present embodiment, when parking assistance by automatic steering control is requested by operating the mode selection switch 40 by the vehicle driver in a situation where the vehicle stops, garage parking or tandem A process of requesting the vehicle driver to perform an operation of specifying a target parking position where the vehicle should be parked by parking is executed. Then, for example, when the target parking position is designated by the cursor operation of the target parking space frame on the captured image in which the rear of the vehicle is captured based on the relationship between the vehicle and the mounted camera that captures the rear of the vehicle, the parking start position The target movement locus from to the target parking position is calculated.

  FIG. 2 is a view for explaining a target movement locus to a target parking position in garage parking. FIG. 2A shows a target movement locus when parking in the garage diagonally to the left is left, and FIG. 2B shows a vehicle when parking in the garage diagonally to the left is performed in FIG. 2B. The figure which respectively represented the relationship between the movement distance of this and a steering angle is shown. In the garage parking mode, as shown in FIG. 2, the target movement trajectory is calculated according to a predetermined geometric shape determined from the minimum turning radius of the host vehicle and the relative positional relationship between the parking start position of the host vehicle and the target parking position. When the positional conditions are satisfied, from the relative positional relationship, A. B. A straight and backward section of a predetermined distance; Section where the rudder angle is increased by clothoid, C.I. D. Steady circle turning section with fixed rudder angle; The steering angle switchback section by the clothoid, It is performed so that each section of a straight-ahead and backward section of a predetermined distance is appropriately formed. Note that the straight-ahead and backward section A at the initial stage of the route may not be formed at all.

  Moreover, FIG. 3 shows the figure for demonstrating the target movement locus | trajectory to the target parking position in parallel parking. FIG. 3A shows the target movement trajectory when the parallel parking is performed to the left diagonally backward, and FIG. 3B illustrates the movement of the vehicle when the parallel parking is performed the diagonally backward left. The figure which each represented the relationship between a distance and a steering angle is shown. In the parallel parking mode, as shown in FIG. 3, the target movement trajectory is calculated according to a predetermined geometric shape determined from the minimum turning radius of the host vehicle and the relative positional relationship between the parking start position of the host vehicle and the target parking position. When the position condition is satisfied, the relative position relationship is performed so that a state where two circles are in contact as a route is appropriately formed.

  In a situation where the target movement locus to the target parking position is generated by calculation, when the vehicle driver requests the start of automatic steering control by operating the automatic steering start switch 42, the vehicle is moved along the target movement locus. The automatic steering control for moving is started. Specifically, when the vehicle driver releases the brake operation and the vehicle starts to reverse due to a creep phenomenon or the like, thereafter, the moving distance of the vehicle relative to the road surface from the parking start position is calculated, and this calculated moving distance is calculated. Based on this, the position of the vehicle with respect to the target movement locus to the target parking position is calculated. Then, a target rudder angle for moving the vehicle along the target movement locus is calculated, and the steering actuator 24 is controlled so that the target rudder angle is realized. The steering actuator 24 applies torque for realizing the target steering angle to the steering shaft 14 based on the target steering angle calculated by the ECU 30.

  According to such a configuration, it is possible to execute automatic steering control for automatically steering the vehicle along the target movement locus to the target parking position based on the intention of the vehicle driver during garage parking and parallel parking. Such automatic steering control eliminates the need for the driver to perform a steering operation when the vehicle is parked. For this reason, according to the automatic steering device 10 of the present embodiment, it is possible to reduce the burden of the driver's steering operation during parking in the garage and during parallel parking.

  FIG. 4 is a diagram for explaining inconvenience due to execution of automatic steering control. By the way, in executing the automatic steering control according to the target movement locus as described above, the relationship between the vehicle position and the steering angle is extremely important. And the position of this vehicle is grasped | ascertained from the moving distance and moving direction of a vehicle. On the other hand, in the process of garage parking or parallel parking by automatic steering control according to the target movement trajectory, the traveling direction of the vehicle along the target movement trajectory due to a steep uphill road, etc. May go back in the opposite direction. Despite the occurrence of such backtracking, the vehicle travel distance based on the wheel speed sensor 34 is accumulated on the assumption that the vehicle is appropriately moving in the traveling direction along the target travel locus, and corresponds to the accumulated travel distance. If the target rudder angle is set and the steering actuator 24 is automatically controlled so that the target rudder angle is realized, the vehicle is guided to deviate from the target movement locus. Therefore, in order to avoid such inconvenience, it is appropriate to stop the automatic steering by the steering actuator 24 and stop the parking assistance when the vehicle returns in the process of executing the automatic steering control.

  Here, a wheel speed sensor with a rotation direction detecting function capable of detecting the moving direction of the vehicle, that is, the rotating direction of the wheel, together with the moving distance of the vehicle, that is, the amount of rotation of the wheel, to determine whether or not the vehicle is returned Can be considered. If such a wheel speed sensor is used, the movement distance of the vehicle from the parking start position and then whether the vehicle moves in the traveling direction along the target movement locus or returns in the opposite direction to the traveling direction. Since both the moving direction shown can be detected, the position of the vehicle with respect to the target movement trajectory can be accurately detected, and the automatic steering control can be stopped at the time of the above-described return.

  However, a wheel speed sensor with a wheel rotation direction detection function is more expensive than a wheel speed sensor that cannot detect the wheel rotation direction. Not valid. Also, the wheel speed sensor with the wheel rotation direction detection function has a larger sensor size than the wheel speed sensor that cannot detect the wheel rotation direction. Inconvenience such as increase will occur. Therefore, the system of the present embodiment realizes the detection of the moving direction of the vehicle, which is necessary for determining the presence or absence of vehicle return, without using a high-function wheel speed sensor capable of detecting the rotation direction of the wheels. It has one feature.

  FIG. 5 is a diagram for explaining a method of detecting the moving direction of the vehicle in the present embodiment. FIG. 5 shows an example of a temporal change in the sensor output value G of the acceleration / deceleration sensor 36 when the vehicle returns. In the process in which the vehicle is parked in a garage or connected in parallel from the parking start position in the parked state, if the movement direction coincides with the traveling direction along the target movement locus, the parking start position on the vehicle Positive acceleration acts relatively large toward the rear of the vehicle (forward direction side) with reference to. On the other hand, when the movement direction is opposite to the traveling direction along the target movement locus, the vehicle has a relatively positive acceleration toward the front of the vehicle (return side) relative to the vehicle at the parking start position. Acts greatly. Therefore, if the subsequent acceleration / deceleration is measured based on the acceleration acting on the vehicle at the parking start position in the stopped state and the magnitude is compared, the moving direction of the vehicle can be detected.

  In the present embodiment, the automatic steering device 10 includes the wheel speed sensor 34 as described above, and the wheel speed sensor 34 has a rotation direction function for distinguishing the moving direction of the vehicle, that is, the rotation direction of the wheel. Absent. On the other hand, the automatic steering apparatus 10 includes an acceleration / deceleration sensor 36 that outputs a signal corresponding to the acceleration / deceleration generated in the longitudinal direction of the vehicle.

  In the automatic steering device 10, when the automatic steering start switch 42 is operated by the vehicle driver to start the automatic steering control (time t0 in FIG. 5), the sensor output value G (t ) Is detected, and the difference between each sensor output value G (t) and the sensor output value G (t0) (= G0) at the start of automatic steering from the start of automatic steering as shown on the left side of the following equation (1) A time integral value is calculated. And it is discriminate | determined whether the conditions of (1) Formula are satisfy | filled about the calculated time integration value. The threshold value Th shown in the equation (1) is the minimum vehicle speed at which it can be determined that the vehicle is moving in the direction opposite to the traveling direction of the target movement locus, and is set to a positive value in this embodiment. Has been.

上記の如く、加減速度センサ３６のセンサ出力値は、車両前方（後戻り側）への加速度が大きいほど大きく、車両後方への加速度が大きいほど小さくなるものである。このため、自動操舵の過程で車両が実際に目標移動軌跡に沿った進行方向へ移動するときには、加減速度センサ３６のセンサ出力値Ｇ（ｔ）が自動操舵開始時点のものＧ０に比べて小さくなる傾向となり、また、自動操舵の過程で車両が実際に目標移動軌跡に沿った進行方向とは反対方向へ移動するときには、加減速度センサ３６のセンサ出力値Ｇ（ｔ）が自動操舵開始時点のものＧ０に比べて大きくなる傾向となる。

As described above, the sensor output value of the acceleration / deceleration sensor 36 increases as the acceleration toward the vehicle front (return side) increases, and decreases as the acceleration toward the vehicle rear increases. For this reason, when the vehicle actually moves in the traveling direction along the target movement locus in the course of automatic steering, the sensor output value G (t) of the acceleration / deceleration sensor 36 becomes smaller than G0 at the time of starting automatic steering. In addition, when the vehicle actually moves in the direction opposite to the traveling direction along the target movement trajectory in the course of automatic steering, the sensor output value G (t) of the acceleration / deceleration sensor 36 is the one at the time of starting automatic steering. It tends to be larger than G0.

  Therefore, in the present embodiment, the calculated time integral value (1) in a state where the amount of wheel rotation detected by the wheel speed sensor 34 during the execution of the automatic steering control changes and the moving distance of the vehicle changes. ) If it is determined that the condition of the equation is not satisfied, it is determined that the vehicle is moving in the traveling direction along the target movement locus, and it is determined that the moving direction of the vehicle, that is, the rotational direction of the wheels is in a normal state. Is done. On the other hand, when it is determined that the condition of equation (1) is satisfied for the calculated time integral value in a state where the moving distance of the vehicle changes, the direction in which the vehicle is opposite to the traveling direction along the target movement locus And the moving direction of the vehicle, that is, the rotational direction of the wheel, is determined to be in a back-turning state opposite to the normal state.

  Thus, in the automatic steering device 10 of the present embodiment, the detection of the moving distance of the vehicle is performed using the wheel speed sensor 34 provided on each wheel, and the detection of the moving direction of the vehicle is performed. The acceleration / deceleration sensor 36 for detecting the acceleration / deceleration in the front-rear direction is used. Therefore, it is not necessary to use a high-performance wheel speed sensor capable of detecting the rotation direction of the wheel in detecting the moving distance and moving direction of the vehicle, which are important for executing the automatic steering control. Detection can be realized without using such a high-performance wheel speed sensor, and in this respect, it can be grasped from the moving distance and moving direction of the vehicle without using such a high-performance wheel speed sensor. It is possible to accurately calculate the vehicle position.

  In this embodiment, the sensor output value G0 of the acceleration / deceleration sensor 36 at the parking start position where the automatic steering control is started when detecting the moving direction of the vehicle, that is, when determining whether or not the vehicle is returned. Is the zero reference. For this reason, even when a temperature drift occurs in the acceleration / deceleration sensor 36 or when the initial value of the sensor output value fluctuates due to the road surface gradient, the movement direction of the vehicle is detected with the fluctuation of the sensor output absorbed. Therefore, it is possible to accurately detect the moving direction of the vehicle.

  In this embodiment, the time integration of the sensor output value G (t) of the acceleration / deceleration sensor 36 is used to start the automatic steering control in detecting the moving direction of the vehicle, that is, in determining whether the vehicle is returning. From the moment. The vehicle is in a stopped state at the start of automatic steering control. Assuming that the moving direction of the vehicle is determined based on the time integration after the vehicle starts moving after the start of the automatic steering control, the vehicle suddenly moves despite the appropriate movement in the traveling direction along the target movement locus. When braking is performed, acceleration occurs in the same direction as when the vehicle returns, and the moving direction may be erroneously determined. On the other hand, according to the present embodiment, the time integration is performed with reference to the automatic steering start time, so that the vehicle moving direction is not erroneously detected even when sudden braking or the like is performed. It is possible to do.

  In this embodiment, the acceleration / deceleration sensor 36 used for detecting the moving direction of the vehicle is a sensor used for airbag activation control and the like. The airbag activation control generally uses an acceleration / deceleration sensor that detects the acceleration / deceleration in the longitudinal direction of the vehicle. Therefore, automatic steering control of the vehicle by the steering actuator 24 is performed based on the sensor output. For example, it is not necessary to provide a dedicated acceleration / deceleration sensor for automatic steering control. In this regard, according to the present embodiment, it is possible to execute automatic steering of the vehicle using the existing acceleration / deceleration sensor 36.

  Therefore, according to the present embodiment, the wheel speed sensor that can detect the rotational direction of the expensive wheel is not used, and the existing acceleration / deceleration sensor 36 is used, so that the automatic steering control is appropriately executed. In constructing the automatic steering device 10, it is possible to reduce the manufacturing cost. In addition, since the wheel speed sensor that can detect the rotation direction of the wheel having a large sensor size is not used, it is possible to ensure good mountability of the wheel speed sensor 34 on the wheel.

  By the way, the relationship between the position of the vehicle and the steering angle is extremely important in executing the automatic steering control according to the target movement trajectory as described above. In the process of parking, the vehicle rotates backward when the road surface is in a slippery state due to freezing or the like. Or a slip state where the wheel slides with respect to the road surface. In this way, the traveling distance of the vehicle based on the wheel speed sensor 34 is accumulated and accumulated, assuming that the vehicle is appropriately moving in the traveling direction along the target movement trajectory despite the idling or slipping of the wheel. When the target rudder angle corresponding to the travel distance is set and the steering actuator 24 is automatically controlled so that the target rudder angle is realized, the vehicle is guided to deviate from the target travel locus. End up.

  Therefore, in order to avoid such inconvenience, it is appropriate to stop the automatic steering by the steering actuator 24 and stop the parking support when the idling or slipping of the wheel occurs in the execution process of the automatic steering control. The system of the present embodiment has a second feature in that it is determined whether or not idling of the wheel or occurrence of slip occurs in the execution process of the automatic steering control.

  In the present embodiment, the automatic steering device 10 includes the wheel speed sensor 34 and the acceleration / deceleration sensor 36 as described above. In the automatic steering device 10, when the automatic steering start switch 42 is operated by the vehicle driver to start the automatic steering control, the wheel speed sensor 34 is used to detect the rotational speed of the wheel and the acceleration / deceleration sensor 36. Is used to detect the longitudinal acceleration of the vehicle.

  When the vehicle is idling, the sensor output value of the acceleration / deceleration sensor 36 is the one at the start of automatic steering when the vehicle stops (initially) in a state where the rotational speed of the wheel is detected and the rotational change of the wheel is occurring. Value) will remain the same. In addition, when the vehicle is in a slip state, the vehicle speed determined by the rotation speed and radius of the wheel moves without slipping in a state in which the rotation speed of the wheel is detected and the rotation of the wheel is changed. In this case, the moving distance becomes larger than the actual moving distance of the vehicle that can be detected using the acceleration / deceleration sensor 36, and the deviation between the two exceeds the reference value (nearly zero).

  Therefore, in the present embodiment, the sensor output value of the acceleration / deceleration sensor 36 is in the vicinity of the initial value at the start of automatic steering in a state where the wheel rotation amount detected by the wheel speed sensor 34 changes during the execution of the automatic steering control. When a certain state continues for a predetermined time, it is determined that the vehicle is in a wheel idling state. Further, in a state in which the rotation amount of the wheel based on the wheel speed sensor 34 changes, the movement distance estimated that the vehicle has moved based only on the rotation amount of the wheel by the wheel speed sensor 34 and the adjustment by the acceleration / deceleration sensor 36. When the deviation from the actual travel distance of the vehicle calculated by integrating the speed is equal to or greater than a predetermined value, it is determined that the vehicle is in a slip state. In this respect, it is possible to accurately detect the wheel idling state or slip state of the vehicle using the wheel speed sensor 34 and the acceleration / deceleration sensor 36.

  FIG. 6 shows a flowchart of an example of a control routine executed by the ECU 30 in the automatic steering apparatus 10 of the present embodiment. The routine shown in FIG. 6 is a routine that is repeatedly activated every time the process is completed. When the routine shown in FIG. 6 is started, first, the process of step 100 is executed.

  In step 100, the mode selection switch 40 is turned on while the vehicle is stopped, and the automatic steering start switch 42 is turned on in a state where the target movement locus to the target parking position is set. It is determined whether or not steering control is started. As a result, when it is determined that any of the conditions is not satisfied and the automatic steering control is not started, the current routine is terminated without any further processing. On the other hand, when it is determined that all the conditions are satisfied and the automatic steering control is started, the vehicle steering angle based on the moving distance of the vehicle calculated using the wheel speed sensor 34 is realized as usual. Automatic steering control by the steering actuator 24 is executed, and then the processing of step 102 is executed.

  In step 102, after the automatic steering control is started, whether the vehicle returns in the direction opposite to the traveling direction along the target movement track according to the method described above based on the output signal of the acceleration / deceleration sensor 36 in the execution process. It is determined whether or not. As a result, if it is determined that the vehicle is going back, the process of step 108 is performed next. On the other hand, when it is determined that the vehicle does not return, the process of step 104 is executed next.

  In step 104, it is determined whether or not the vehicle is in a wheel idling state according to the method described above based on the output signal of the wheel speed sensor 34 and the output signal of the acceleration / deceleration sensor 36. As a result, if it is determined that the vehicle is idling, the process of step 108 is executed next. On the other hand, when it is determined that the vehicle is not in the idling state, the process of step 106 is executed next.

  In step 106, it is determined whether or not the vehicle is in a slipping state in which the wheel slips according to the above-described method based on the output signal of the wheel speed sensor 34 and the output signal of the acceleration / deceleration sensor 36. As a result, when it is determined that the wheel is in the slip state, the process of step 108 is performed next. On the other hand, if it is determined that the vehicle is not slipping, the routine of this time is terminated without executing the processing of step 108.

  In step 108, processing for stopping the automatic steering control by the steering actuator is executed. When the process of step 108 is executed, the process of automatically turning the wheels with the movement of the vehicle is no longer performed, and the parking support by the automatic steering is stopped. When the processing of step 108 is completed, the current routine is terminated.

  According to the routine shown in FIG. 6, when the vehicle moves in the traveling direction along the target movement locus after the automatic steering control is started, the automatic steering control can be continued as it is. On the other hand, when the vehicle returns backward in the direction opposite to the traveling direction along the target movement trajectory, when the vehicle is in a wheel idling state where the wheel rotates despite the fact that the vehicle body does not move, or when the vehicle is in relation to the road surface When the wheels are slipping, the automatic steering control can be stopped.

  For this reason, according to the automatic steering device 10 of the present embodiment, the vehicle is automatically steered in any case when the vehicle returns, in the case of wheel idling or slipping in the process of parking in the garage or parallel parking. Can be prevented from deviating from the target movement trajectory, whereby the automatic steering control by the steering actuator 24 can be appropriately performed.

  In the first embodiment, the wheel speed sensor 34 corresponds to the “wheel speed sensor” recited in the claims, and the acceleration / deceleration sensor 36 corresponds to the “acceleration sensor” recited in the claims. In addition, the ECU 30 automatically controls the steering actuator 24 so that the target steering angle corresponding to the movement distance from the parking start position of the vehicle is realized according to the target movement locus. The "automatic steering means" detects the rotational speed of the wheel based on the output signal of the wheel speed sensor 34 to detect the moving distance of the vehicle, and determines the moving direction and moving distance of the vehicle based on the output signal of the acceleration / deceleration sensor 36. FIG. 6 shows the “movement information calculation means” described in the claims by detecting and determining the presence or absence of vehicle reverse, wheel slip, or slip. Set forth in the appended claims by executing the processing routine in step 108 "control termination means" are realized respectively.

  By the way, in the first embodiment described above, the time integration value of the sensor output value G (t) of the acceleration / deceleration sensor 36 is used for the detection of the moving direction of the vehicle in the execution process of the automatic steering control, that is, the determination of the return. The sensor output value G (t) of the acceleration / deceleration sensor 36 accelerates backward with reference to the starting point of the automatic steering control, and is determined based on whether or not the value Th is reached. It may be performed based on whether or not the state continues for a predetermined time. As described above, when the vehicle actually moves in the traveling direction along the target movement locus during the automatic steering process, the sensor output value G (t) of the acceleration / deceleration sensor 36 is smaller than G0 at the time of the start of automatic steering. In addition, when the vehicle actually moves in the direction opposite to the traveling direction along the target movement locus in the course of automatic steering, the sensor output value G (t) of the acceleration / deceleration sensor 36 is It tends to be larger than G0. Therefore, it is possible to determine whether or not the vehicle moves to the backward movement side depending on whether or not the sensor output value G (t) of the acceleration / deceleration sensor 36 accelerates to the backward movement side continues for a predetermined time. .

  Further, in the first embodiment, the sensor output value G (t) of the acceleration / deceleration sensor 36 from the start of the automatic steering control is used to detect the movement direction of the vehicle in the process of executing the automatic steering control, that is, to determine the return. Is performed based on whether or not the time integral value of the sensor reaches the threshold value Th, the time of the sensor output value G (t) of the acceleration / deceleration sensor 36 when a predetermined time has elapsed after the start of the automatic steering control. It may be performed based on whether or not the integral value is positive with reference to G0 at the time of the start of automatic steering.

  In the first embodiment described above, the acceleration / deceleration sensor 36 is used to determine whether or not the vehicle returns, wheel idling, and slip occur during the execution of automatic steering control. On the other hand, in the second embodiment of the present invention, the presence or absence of occurrence of vehicle back-turn, wheel idling, and slip in the execution process of automatic steering control is determined using a camera that captures the vehicle periphery mounted on the vehicle. To do. Hereinafter, the characteristic part of a present Example is demonstrated in detail.

  FIG. 8 shows a system configuration diagram of the automatic steering apparatus 100 of the present embodiment. In FIG. 8, parts that are the same as the parts shown in FIG. 1 are given the same reference numerals, and descriptions thereof will be omitted or simplified. The automatic steering device 100 according to the present embodiment also provides a vehicle along the target movement locus to the target parking position on the road surface where the vehicle should be parked when the vehicle is parked, such as garage parking or parallel parking, as desired by the vehicle driver. Is a device that performs automatic steering control so that the vehicle is automatically steered without being operated by the driver.

  In the present embodiment, the automatic steering device 100 includes an ECU 102 mainly composed of a computer. The ECU 102 is electrically connected to the steering actuator 24, the steering angle sensor 32, and the wheel speed sensor 34 for each wheel. The ECU 102 detects the steering angle of the steering wheel 12 and the steered angles of the front wheels FL and FR as steered wheels based on the output signal of the rudder angle sensor 32, and the wheel based on the output signal for each wheel speed sensor 34. And a command signal is supplied to the steering actuator 24 so that a target steering angle set as will be described later is realized. The ECU 102 is connected to the mode selection switch 40 and the automatic steering start switch 42 described above.

  The ECU 102 is also electrically connected to a camera 104 disposed at the center of the rear of the vehicle, for example, or at the center of the front of the vehicle. The camera 104 is a camera that captures an area including a road surface that extends in a predetermined angular range behind or in front of the vehicle. Information on the image around the vehicle photographed by the camera 104 is supplied to the ECU 102. The camera 104 may be a camera used for a so-called back guide that draws various auxiliary lines and presents the image of the rear of the vehicle to the vehicle driver via a monitor, and detects an obstacle in front of the vehicle. It may be a camera used for the purpose.

  Hereinafter, the operation of the automatic steering apparatus 100 of the present embodiment will be described.

  Also in the automatic steering device 100 of the present embodiment, when parking assistance by automatic steering control is requested by the mode selection switch 40 being operated by the vehicle driver in a situation where the vehicle is stopped, garage parking or Processing for requesting the vehicle driver to specify the target parking position where the vehicle is to be parked by parallel parking is executed, and when such designation is made, from the parking start position as shown in FIGS. 2 and 3 to the target parking position. The target movement trajectory is calculated. In this situation, when the vehicle driver operates the automatic steering start switch 42 to request the start of automatic steering control, automatic steering control for moving the vehicle along the target movement locus is started.

  Specifically, when the vehicle driver releases the brake operation and the vehicle starts to reverse due to a creep phenomenon or the like, thereafter, the moving distance of the vehicle relative to the road surface from the parking start position is calculated, and this calculated moving distance is calculated. Based on this, the position of the vehicle with respect to the target movement locus to the target parking position is calculated. Then, a target rudder angle for moving the vehicle along the target movement locus is calculated, and the steering actuator 24 is controlled so that the target rudder angle is realized.

  According to such a configuration, it is possible to execute automatic steering control for automatically steering the vehicle along the target movement locus to the target parking position based on the intention of the vehicle driver during garage parking and parallel parking. According to such automatic steering control, it is not necessary for the driver to perform a steering operation when the vehicle is parked. For this reason, also in the automatic steering device 100 of the present embodiment, it is possible to reduce the burden of the driver's steering operation during parking in the garage and parallel parking.

  By the way, when the vehicle moves in the garage parking or parallel parking in the rear from the parking start position in the stopped state, when the moving direction of the vehicle coincides with the traveling direction along the target moving locus, for example, the movement The vehicle approaches a stationary object (for example, a white line drawn on the road surface) on the road surface in the direction, and the captured image of the camera 104 moves in the traveling direction. On the other hand, when the moving direction of the vehicle is opposite to the traveling direction along the target moving track, for example, the vehicle moves away from a stationary object on the road surface in the moving direction, and the captured image of the camera 104 After that, it moves in the return direction. Therefore, if the moving direction of the captured image of the camera 104 is detected during execution of automatic steering control, the moving direction of the vehicle can be detected.

  In this embodiment, the automatic steering apparatus 100 includes a wheel speed sensor 34 that does not have a rotation direction function for distinguishing the moving direction of the vehicle, that is, the rotation direction of the wheel, and a camera 104 that captures the periphery of the vehicle. . In the automatic steering device 100, when the automatic steering start switch 42 is operated by the vehicle driver and the automatic steering control is started, thereafter, a plurality of captured images of the camera 104 photographed every predetermined time are analyzed. The amount of movement of the stationary object such as a white line on the road surface shown in the image is calculated. Then, based on the position and amount of movement of the stationary object on the image, the moving direction of the vehicle, specifically, the vehicle moves in the traveling direction along the target movement locus or moves backward in the opposite direction. Is determined.

  In the state in which the amount of wheel rotation detected by the wheel speed sensor 34 changes during the execution of automatic steering control and the moving distance of the vehicle changes, the captured image of the camera 104 moves in the traveling direction along the target movement locus. When the change occurs, it is determined that the vehicle is moving in the traveling direction along the target movement locus, and it is determined that the moving direction of the vehicle, that is, the rotation direction of the wheels is in a normal state. On the other hand, when the moving distance of the vehicle changes, when a change occurs in the captured image of the camera 104 that moves backward in the direction opposite to the traveling direction along the target moving track, the vehicle moves along the target moving track. It is determined that the vehicle is moving in a direction opposite to the traveling direction, and it is determined that the moving direction of the vehicle, that is, the rotational direction of the wheels, is in a back-turning state opposite to the normal state.

  Thus, in the automatic steering device 100 of the present embodiment, the detection of the moving distance of the vehicle is performed using the wheel speed sensor 34 provided on each wheel, and the detection of the moving direction of the vehicle is performed around the vehicle. This is performed using the camera 104 that captures the image. Therefore, also in this embodiment, there is no need to use a high-performance wheel speed sensor capable of detecting the rotation direction of the wheel in detecting the moving distance and moving direction of the vehicle that are important for executing the automatic steering control. Therefore, it is possible to detect the moving direction of the vehicle without using such a high-performance wheel speed sensor, and in this respect, the moving distance and movement of the vehicle without using such a high-performance wheel speed sensor. It is possible to accurately calculate the vehicle position grasped from the direction.

  In this regard, according to the present embodiment, since the wheel speed sensor that can detect the rotational direction of the expensive wheel is not used, the manufacturing cost is reduced in constructing the automatic steering device 100 that appropriately executes the automatic steering control. In addition, since a wheel speed sensor capable of detecting the rotation direction of a wheel having a large sensor size is not used, it is possible to ensure that the wheel speed sensor 34 is easily mounted on the wheel. It is possible.

  Further, when the vehicle is in the idling state of the wheel, a state in which the captured image of the camera 104 hardly changes is continued in a state in which the rotation speed of the wheel is detected and the rotation of the wheel is changed. In addition, when the vehicle is in a slip state, the vehicle speed determined by the rotation speed and radius of the wheel moves without slipping in a state in which the rotation speed of the wheel is detected and the rotation of the wheel is changed. The moving distance at this time becomes larger than the actual moving distance of the vehicle that can be detected using the captured image of the camera 104, and the deviation between the two exceeds the reference value (approximately zero).

  Therefore, in the present embodiment, when a change occurs in the captured image of the camera 104 in a state where the rotation amount of the wheel detected by the wheel speed sensor 34 changes during the execution process of the automatic steering control, the vehicle is stopped. It is not determined that the wheel is idling, but when there is almost no change in the image captured by the camera 104, it is determined that the vehicle is stopped and the wheel is idling. Is done. Further, in a state in which the rotation amount of the wheel based on the wheel speed sensor 34 changes, the movement distance estimated that the vehicle has moved based only on the rotation amount of the wheel by the wheel speed sensor 34, and in the captured image of the camera 104 When the deviation from the actual travel distance of the vehicle calculated from the movement amount and position of the stationary object at or above becomes a predetermined value or more, it is determined that the vehicle is in a slip state. In this respect, it is possible to accurately detect the wheel idling state or slip state of the vehicle using the wheel speed sensor 34 and the camera 104.

  Further, in the present embodiment, when the vehicle returns in the direction opposite to the traveling direction along the target movement track after the automatic steering control is started, the wheel does not move even though the vehicle body does not move. When the vehicle is in an idling state where the wheel rotates, or when the vehicle is in a slipping state where the wheel slides on the road surface, the automatic steering control is stopped. For this reason, according to the automatic steering device 100 of the present embodiment, as in the case of the automatic steering device 10 of the first embodiment described above, when the vehicle returns in the process of garage parking or parallel parking, In both cases of slipping and slipping, it is possible to prevent the automatic steering of the vehicle from deviating from the target movement trajectory, so that the steering actuator 24 can execute the automatic steering control. It can be done appropriately.

  In the second embodiment described above, the ECU 30 detects the rotational speed of the wheel based on the output signal of the wheel speed sensor 34 to detect the moving distance of the vehicle, and based on the image captured by the camera 104, The “movement information calculation means” described in the claims is realized by detecting the movement direction and the movement distance and determining the presence or absence of vehicle back-turning, wheel slipping, or slipping.

  By the way, in the first and second embodiments described above, when the vehicle turns back in the direction opposite to the traveling direction along the target movement locus in the course of the automatic steering control, the automatic movement according to the target movement locus is thereafter performed. Although the execution of the steering control is to be stopped, the present invention is not limited to this, and after the vehicle starts to return, the vehicle is reversely reproduced along the target movement locus as shown in FIG. The automatic steering by the steering actuator 24 may be continued so that the target steering angle corresponding to the movement distance from the parking start position is realized in accordance with the target movement locus in which the traveling direction is reversed. According to such a configuration, when the vehicle returns in the middle of the execution of the automatic steering control, the same target movement locus as that of the forward path can be followed and the original parking start position can be returned, which is convenient for the driver. is there.

  In the first and second embodiments described above, when the vehicle is in the idling state in which the wheels are idling in the course of the automatic steering control, the execution of the automatic steering control according to the target movement locus is stopped thereafter. However, the present invention is not limited to this, and automatic steering by the steering actuator 24 may be continued by maintaining the moving distance of the vehicle without updating while the wheels are idling. . According to such a configuration, the movement distance from the parking start position of the vehicle can be accurately calculated even after the wheel idling that has occurred once has been resolved, so that the vehicle can be moved again along the target movement locus. Thus, it is possible to appropriately execute the automatic steering control.

1 is a system configuration diagram of an automatic steering apparatus according to a first embodiment of the present invention. It is a figure for demonstrating the target movement locus | trajectory to the target parking position in garage parking. It is a figure for demonstrating the target movement locus | trajectory to the target parking position in parallel parking. It is a figure for demonstrating the inconvenience resulting from execution of automatic steering control. It is a figure for demonstrating the method of detecting the moving direction of a vehicle in a present Example. It is a flowchart of the control routine performed in the automatic steering device of a present Example. It is a figure for demonstrating the method of the automatic steering control in the modification of this invention. It is a system configuration | structure figure of the automatic steering apparatus which is 2nd Example of this invention.

Explanation of symbols

10,100 Automatic steering device 24 Steering actuator 30,102 Electronic control unit (ECU)
34 Wheel speed sensor 36 Acceleration / deceleration sensor 104 Camera

Claims (16)

An automatic steering apparatus comprising automatic steering means for automatically controlling a steering actuator so that a steering angle corresponding to the position of the vehicle with respect to the target movement locus is realized according to the target movement locus of the vehicle ,
A wheel speed sensor for detecting the amount of rotation of the wheel that cannot detect the direction of rotation of the wheel;
An acceleration sensor for detecting acceleration in the longitudinal direction of the vehicle;
A movement information calculation means for calculating an actual movement amount and a movement direction of the vehicle for grasping the position of the vehicle based on a detection result by the wheel speed sensor and a detection result by the acceleration sensor;
An automatic steering apparatus comprising: An automatic steering apparatus comprising automatic steering means for automatically controlling a steering actuator so that a steering angle corresponding to the position of the vehicle with respect to the target movement locus is realized according to the target movement locus of the vehicle ,
A wheel speed sensor for detecting the amount of rotation of the wheel that cannot detect the direction of rotation of the wheel;
A camera that captures the area around the vehicle,
Movement information calculation means for calculating an actual movement amount and a movement direction of the vehicle for grasping the position of the vehicle based on a detection result by the wheel speed sensor and a captured image by the camera;
An automatic steering apparatus comprising: As a result of the actual movement amount and movement direction of the vehicle being calculated by the movement information calculation means, the automatic operation is performed when the vehicle is in a reversing state in which the vehicle moves back in the direction opposite to the traveling direction along the target movement locus. 3. The automatic steering apparatus according to claim 1, further comprising a control ending unit for ending automatic control of the steering actuator by the steering unit. As a result of calculating the actual movement amount and the movement direction of the vehicle by the movement information calculation means, the automatic steering means is in a back-return state in which the vehicle returns in the direction opposite to the traveling direction along the target movement locus. The steering actuator is automatically controlled so that a steering angle corresponding to the position of the vehicle with respect to the target movement locus is realized according to the target movement locus in which the traveling direction is reversed. Item 3. The automatic steering device according to Item 1 or 2. As a result of calculating the actual movement amount and movement direction of the vehicle by the movement information calculation means, the automatic control of the steering actuator by the automatic steering means is terminated when the vehicle is in a wheel idling state in which the wheels idle. 3. The automatic steering apparatus according to claim 1, further comprising a control ending unit. The movement information calculation means retains the actual movement amount of the vehicle without updating it when the vehicle is in a wheel idling state in which the wheels idle as a result of calculating the actual movement amount and movement direction of the vehicle. The automatic steering apparatus according to claim 1 or 2, characterized in that. As a result of calculating the actual moving amount and moving direction of the vehicle by the movement information calculating means, the automatic steering means automatically controls the steering actuator when the vehicle is in a slip state where the wheels slide on the road surface. 3. The automatic steering apparatus according to claim 1, further comprising a control ending unit for ending.   The automatic steering apparatus according to claim 1, wherein the acceleration sensor is a sensor used to determine whether or not to activate an airbag that protects a vehicle occupant. The movement information calculating means accelerates the output of the acceleration sensor to the reverse side opposite to the traveling direction along the target movement locus in a state where the wheel rotation amount detected by the wheel speed sensor changes. when is to state continues for a predetermined time, automatic steering according to claim 1, wherein the traveling direction of vehicles is along the target movement locus and judging to be in turning back the state of backtracking in the opposite direction apparatus. The movement information calculation means has a predetermined value on the reverse side opposite to the advancing direction along the target movement trajectory when the wheel rotation amount detected by the wheel speed sensor changes. upon reaching a value, automatic steering apparatus according to claim 1, wherein the determining to be in turning back the state of backtracking in the opposite direction to the traveling direction vehicles is along the target movement locus. The movement information calculation section, in a state where the wheel rotation amount detected by the wheel speed sensor changes, when a state in which the output of the acceleration sensor is in the vicinity of their initial values continues for a predetermined time, vehicles are racing of wheels 2. The automatic steering apparatus according to claim 1, wherein it is determined that the wheel is idling. The movement information calculation means has a predetermined deviation between a first movement amount calculation value based on a wheel rotation amount by the wheel speed sensor and a second movement amount calculation value based on an output of the acceleration sensor or an integral value of the output. when a value or more, the automatic steering apparatus according to claim 1, wherein the vehicles to determine the wheel is in a slip state in which slip with respect to the road surface. 2. The movement information calculation means calculates an actual movement amount and a movement direction of a vehicle using an output of the acceleration sensor when automatic control of a steering actuator is started as an initial value. Automatic steering device. The movement information calculation means has a change in which the movement amount of the wheel detected by the wheel speed sensor changes to a backward movement direction opposite to the traveling direction along the target movement locus in the image captured by the camera. when that occurred, the automatic steering apparatus according to claim 2, wherein the determining to be in turning back the state of backtracking in the opposite direction to the traveling direction vehicles is along the target movement locus. The movement information calculation means determines a state where the wheel rotation amount detected by the wheel speed sensor changes, when the change in the image captured by the camera does not occur, to be in the wheel idle state vehicles idles wheel The automatic steering apparatus according to claim 2, wherein The movement information calculation means is configured such that a deviation between a first movement amount calculation value based on a change in wheel rotation amount by the wheel speed sensor and a second movement amount calculation value based on a change in a captured image by the camera is a predetermined value or more. and when it becomes an automatic steering system according to claim 2, wherein the vehicles, characterized in that the wheel is determined to be in the slip state slipping relative to the road surface.

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