JPH0455168A - Steering device and automatic steering system - Google Patents

Abstract

PURPOSE:To make one actuator to show power steering function and automatic steering function by switching a control method of one actuator with a switching device. CONSTITUTION:An automobile is parked automatically with only moving forward and backward by a driver by changing a steering command in response to a parking method such as garaging and longitudinal parking. Namely, one of a power steering mode and an automatic steering mode of control modes of one actuator 5 is selected by a mode switching means 2. Next, during the selected automatic steering mode, an operating method commanded by information means 17, 18 and the operation condition detected by operation condition detecting means 10-13 are compared with each other, and when a judgement that the operating method is different is performed, a mode of the actuator 5 is switched from the automatic steering mode to the power steering mode. At this stage, switching to the power steering mode is informed to the driver. As a result, contact at the time of automatic steering operation can be prevented.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention is an automatic steering device that normally functions as a power steering device and automatically steers the steering wheel to facilitate parking when parking in a garage, parallel parking, etc. The present invention relates to a steering device that functions as a steering device.

[Conventional technology]

In general, parking in a garage and parallel parking are driving techniques that drivers are not good at. In particular, beginners may not be able to operate the steering wheel sufficiently and may have to turn the steering wheel over and over again. In general, it is possible to consider a system that uses proximity sensors etc. to completely automatically park the garage, but such a system requires highly reliable sensors and requires a large number of sensors. It is necessary to configure the control system by considering the scene settings. However, the most difficult thing for drivers is deciding when and how much to turn the steering wheel.

Conventionally, as a parking support system for automobiles,
As described in Japanese Patent Laid-open No. 201082 and Japanese Patent Laid-open No. 63-29]200, a method is known in which the position of a vehicle is detected and the direction of travel of the vehicle is taught or steered in that direction based on the result.

Furthermore, as shown in Japanese Patent Application Laid-Open No. 6(1999)-37011, an automatic steering system has been devised that allows the vehicle to travel on highways without deviating from the travel lane.

[Problem to be solved by the invention]

However, the former of the above-mentioned conventional techniques takes into account teaching the driver how to steer the vehicle, but does not consider an automatic steering device. Furthermore, the latter automatic steering device does not consider situations other than automatic steering.

Therefore, an object of the present invention is to provide an automatic steering system that uses a steering device that can steer tires, and that functions as a power steering system that can normally steer the steering wheel with a small steering torque, and that automatically steers the steering wheel when parking. The objective is to provide a device that functions as

Another object of the present invention is to provide a device that stops the automatic steering mode to ensure safety even when the driver drives in a manner different from the instructions given by the notification means during the automatic steering mode.

[Means to solve the problem]

The above purpose is to attach an actuator that generates a steering torque of 1 to the steering device that steers the tires, and when operating in normal power steering mode, detect the driver's steering torque, thereby generating 1 to 1 torque from the actuator. control the lux. Furthermore, when operating in the automatic steering mode, the actuator controls the steering wheel steering angle according to the distance traveled by the vehicle, which is achieved by selecting one of these control methods using the mode switching means.

In order to achieve the other objectives mentioned above, the system is equipped with a reporting device that instructs the driver on driving methods and a driving state detection device that detects the driving state, so that when the driver is in the automatic steering mode and is driving in a manner different from the instructions given by the reporting means. When this happens, the mode of the steering system is switched from automatic steering mode to power steering mode, and a notification device notifies the driver that the mode has been switched.

[Effect]

In the normal power steering mode, when the driver steers the steering wheel, a steering torque of 1 to 1 is generated. This steering torque is detected by the driving state detection means and input to the control means. The steering control means determines a steering assist torque command based on the steering torque and vehicle speed. The actuator is controlled by the steering control means to generate this steering assist torque. This allows the driver to steer the steering wheel with a small amount of steering force.
It can function as a power steering device. Further, when in an automatic steering mode such as parking in a garage or parallel parking, the driver is informed of the driving method stored in the advance control means by the notification means. The driver follows the instructions to drive the vehicle forward, backward, or stop.

At this time, the distance traveled by the vehicle is detected by the driving state detection means.

The steering control means calculates the steering angle command of the steering wheel relative to the travel distance using a predetermined method.
The actuator is controlled by this steering angle command and the steering angle obtained from the driving state detection means. By operating in this manner, the steering wheel is automatically steered.

Therefore, by changing the steering angle command depending on the parking method, such as parking in a garage or parallel parking, the driver can automatically park the vehicle simply by moving the vehicle forward and backward. In other words, the same actuator can serve as both a power steering device and an automatic steering device, and the modes can be selected by the mode switching means.

In addition, during automatic steering mode, the mode switching means compares the driving method instructed by the reporting means and the driving state detected by the driving state detecting means, and if it is determined that the driving method is different, the automatic steering mode is switched off. Switch to power steering mode. At this time, the driver is informed that the mode has been switched to power steering mode. By doing this,
It is possible to prevent contact during automatic steering operation.

〔Example〕

An embodiment of the present invention will be explained below with reference to FIG. FIG. 1 shows an example in which an 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 performs control according to the selected method. This control device 1 includes a switching circuit 2, an operating 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. Also,
The operating state detection circuit 3 detects the operating state necessary for control,
The detection amount required in that mode is output to the motor control circuit 4. Furthermore, the motor control circuit 4 drives the motor 5 using a control method according to the mode selected by the switching circuit 2. The output gear of this motor 5 is the steering wheel 6
and a steering shaft 8 that connects the tires 7a and 7b.
The shaft is engaged with the shaft to assist drive the shaft. A clutch 9 is provided between the motor 5 and the steering shaft 1, and when the control device 1 does not operate, the tire 7 can be manually operated by the steering wheel.
a, 7b can be steered. The steering shaft 8 is provided with a steering wheel 1-1 to detect the driver's steering torque and the steering angle of the steering wheel.
A torque detector 10 and a steering angle detector 11 are installed.

In addition, it can be used as a vehicle speed detector to measure the number of tire rotations.
! Vehicle speed pulse generator 12. There is also a gear position detection device 13 that detects the position of the gear. The detectors detected from these are input to the driving state detection circuit 3. Further, the power for the control device 1 is supplied from the battery 14. Further, a signal from the switching command circuit 16 of the driver operating device 15 is input to the switching circuit 2 for switching the mode, so that 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 driving method is sent to the display circuit 1 of the driver operating device]5.
7 and audio circuit] is input to 8.

The display circuit 17 notifies the driver of this by display and the audio circuit 18 by voice.

Here, each of the two control modes will be explained.

When the driver desires to drive in the power steering mode, he specifies the power steering mode using the switching command circuit 16, and the switching circuit 2 outputs the mode to the driving state detection circuit 3 and motor control circuit 4 using a mode signal SH. The driver can also select the mode from the driver operating device 15.
Let me know.

Here, when the driver steers the steering wheel 6, the steering torque and steering angle Oh detected by the rudder torque detector 1o and the rudder angle detector 1F, respectively, are input to the driving state detection circuit 3. In the driving state detection circuit 3, the vehicle speed d1 is measured by the vehicle speed pulse Pv from the vehicle speed pulse generator 12, and the vehicle speed becomes the vehicle speed ■.

The steering torque τ and the steering angle (it) are output to the motor control circuit 4. In the motor control circuit 4, the steering torque τ
The steering assist torque command τC corresponding to the steering assist torque command τC is calculated, and the applied voltage VM applied to the motor I15 is controlled by the steering assist torque command τH.

The applied voltage VH is controlled by a power converter of the motor control circuit 4 which uses the battery 14 as a power source.

With this, the steering assist torque τH is generated from the motor 5,
It is applied to the steering shaft 7 through the clutch 9.

With this steering assist torque, H and the steering torque τ, the tire 7a
, converting 7b. This series of operations allows the driver to steer the tires 7a, 7b with a small steering torque τ.

In addition, by correcting the steering assist torque command τC based on the vehicle speed (2), vehicle speed-sensitive control can be performed so that the steering torque is small during low-speed driving, and the steering torque is not too small during high-speed driving.

Next, the operation when the vehicle is in automatic steering mode will be explained. When the driver wants to drive in automatic steering mode,
When automatic steering mode l' is designated by the switching command circuit 16,
The switching circuit 2 includes an operating state detection circuit 3 and a motor control circuit 4.
This is output by mode signal SM. Further, the driver is also informed by the driving operation device 15. At this time, the driving state detection circuit 3 outputs the travel distance Q of the vehicle obtained from the steering angle oh and the vehicle speed pulse Pv to the motor control circuit 4.

The motor control circuit 4 calculates the steering angle command OC of the steering wheel for the moving distance Q of the automobile necessary for automatic steering using a method described later. Next, the steering angle command o+.

The voltage VM applied to the motor 5 is determined from the steering angle Oh. As a result, the tires 7a and 7b are turned by the torque output from the motor 5. In other words, the distance traveled by the car Q
The tires 7a and 7b can be automatically steered according to the vehicle speed.

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

FIG. 2 shows the operation panel of the driver operation device 15 operated by the driver. This operation panel has five operation buttons 19a~
19e, which also serves as a switching command circuit 16 and a display circuit 17. Among the operation buttons, the power steering button 19a is used to set the control mode to power steering mode 1 to power steering mode, and the other four buttons 19b to 19e are used to set the control mode to automatic steering mode.

When the driver presses the power steering button 19a, a signal is input from the switching command circuit 16 to the switching circuit 2,
It goes into power steering mode and is controlled in two consecutive operations. At that time, the switching circuit 12 transmits to the display circuit 17 of the driver operating device 15 that the mode has been entered, and the power steering button 19a is lit to notify the driver. Furthermore, when any one of the buttons 19b to 190 is pressed, the automatic steering mode is entered and the pressed button lights up. In this embodiment, four automatic steering modes are provided: a garage entry method, a parallel parking method, a garage exit method, and a parallel exit method. Figure 3 shows the parking position when the vehicle is parked in a garage.

Figure 3A shows a car 2 that starts automatic steering using the garage parking method.
0 stop position is shown. Further, FIG. 3B shows the stopping position of the automobile 20 when the automatic steering mode is changed from forward to reverse, and FIG. 3C shows the stopping position of the automobile 20 when the automatic steering mode is canceled after parking has been completed. show.

Figure 4 shows a car 20 in automatic steering mode when parked in a garage.
The relationship between the moving distance Ω and the steering angle command O, . When the vehicle is moving forward, it is shown in Fig. 4A, and when it is moving backward, it is shown in Fig. 4B. By giving the steering angle command OL using such a function, the third
The automatic steering shown in the figure can be performed. Note that this function is calculated in advance so as to be optimal for automatic steering based on the width and length of the vehicle body of the automobile 20, and the size of the tires, and is stored in the control device 1 as a table.

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

The driver stops the automobile 20 at the starting position of the automatic steering mode, that is, the position shown in FIG. 3A. Furthermore, by setting the target position at which the driver stops right next to the edge of the garage, the accuracy of stopping at that stopping position can be increased.
It is possible to accurately park the vehicle in the garage.

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

For these, it is sufficient to confirm that the vehicle speed V is O and the steering torque τ is 1.1 or less at 1-lux tolerance.

If you do not add h'b to this condition, step 1 1,
0, and the display circuit 17 and audio circuit 18 inform the driver that it is the power steering mode.

When the conditions for automatic steering mode are satisfied, step 10
2, the driver is notified of the start of the automatic steering mode for parking the vehicle by the display circuit 17 and the audio circuit]8. Note that during the automatic steering mode, the audio circuit 18 always informs the driver that the vehicle is in the automatic steering mode at regular intervals. for example,
By continuously playing the "beep, beep, beep" sound, the driver is made aware that it is in automatic steering mode.

In the next step 103, a notification that the automatic steering mode has been entered is output to the driving state detection circuit 3 and the motor control circuit 4. In step 104, instructions are given to the driver on how to drive the car. In the case of the garage parking method, there are four stages. First, as shown in FIG. 3B, in the first step, the vehicle must be moved forward, so the audio circuit 18 is used to notify the driver of an instruction to move forward. Step 105 detects the driving state of the driver and checks if the driver is driving in a manner different from that expected in the automatic steering mode. The items are: (1) the driver is not steering the steering wheel; (2)
(3) The time has not elapsed longer than the set automatic steering mode time t1□; (4) The vehicle speed is less than or equal to the vehicle speed limit; (5) The driver must not press the power steering button; (6) When the driving instruction is to stop, the travel distance after issuing the stop command must not exceed the limit pressure flow, etc. Of these terms 1, (2), (3
), (4).

(6) is to confirm that the driver is driving the vehicle as expected in automatic steering modes 1 to 3.
In addition, (1) is for determining that the driver wants to shift from automatic steering mode to power steering mode for safety 1- when steering 1-luke τ is less than the 1-luke limit value. . (5) is for determining whether the driver directly indicates an intention to shift to power steering mode.

If any one of these items 1 is not satisfied, processing is performed in step 108 to notify the driver of the interruption of the automatic steering mode. Thereafter, the process jumps to step 109. In addition, if all the checked items are satisfied in step 105, step 106
Process.

In step 106, it is determined whether or not to change the instructed driving method of the automobile 20. .

In this judgment method, when the instruction is for the car to move forward or for one person to move forward, the judgment is made based on whether the car has traveled a predetermined travel distance. Furthermore, when an instruction is given to stop the car, the judgment is made based on the fact that the speed of the car has reached O. Therefore, in the first step, we are instructing to move forward, so when the car reaches the distance set in the automatic steering mode according to the method of entering the car, it jumps to step 1.07, and if not, it jumps to step 1.07. , repeat the process of step 1.05. When the robot jumps to step 07, the robot has moved to the position shown in FIG. 3B by automatic steering.

In step 1.07, it is determined whether the automatic steering mode I has completed all the strokes. 3 When Shishiko moves forward a predetermined distance in the first stage, he moves forward in the second stage.
Jump to step 104 for step instructions. In the second stage, the driver is instructed to stop the vehicle 2 degrees. In step 105 and step 106, the first
In the same way as in the previous step, a check is made to see if the driver stops according to the instructions. After the stop instruction, if the vehicle stops within the movement limit value, the process jumps to step 104 via step 107. In this step 1.04, the automatic steering mode for parking the car moves the car in reverse, so
As the third stage instruction, the driver is instructed to go backwards.

When the vehicle 20 is driven in accordance with this, the vehicle 20 is automatically steered according to the distance traveled, so that the vehicle 20 can be moved to the position shown in FIG. 3C. During this time, 1. In the l change circuit 2, after repeating steps 105 and 106, when the predetermined moving distance of the third stage: ml is reached,
Jump to step 1-07 and step 104.

The fourth step is to instruct the vehicle to stop, and operates in the same manner as the second step. When the driver stops the car 20,
You have completed all stages, that is, you have completed parking the garage, and steps 1 and 07 to step 109 are completed.
Jump to. In this step 109, the display circuit 17 and the audio circuit 18 inform the driver that the power steering mode is to be changed to I~, and the automatic steering mode is ended.

Therefore, if this embodiment is used, the power steering function and the automatic steering function can be performed by one motor by switching the motor control method using the switching device, so that an inexpensive steering system can be constructed. Incidentally, automatic steering can be performed for parallel parking, exiting from the garage, and parallel exit by simply changing the steering angle command θ0 relative to the travel distance Q.

In addition, Figure 6 shows the parking position using road surface information.
- This is an example of a method for back control. (In FIG. 5, 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 21 includes a light emitting device 22 that generates light for detection, and a light receiving device 233 that receives the reflected light. In the automatic steering mode, the light emitting device 22 emits light in the direction of the road surface in response to a signal from the control device 1. A reflecting plate 24 is installed on the road surface to detect the road surface position. The reflector 24 is installed at a predetermined position for the automatic steering mode driving method. Light emitting device 22
When the light from the reflection plate 24 is reflected, the light receiving device 23
can receive this reflected light. Therefore, whether or not the light receiving device 23 has received the reflected light is input to the control device 1. Thereby, the control device] can detect the position and angle of the automobile 20 and correct the steering angle command for the steering wheel 6.

Now, a control method for automatic steering when parking the vehicle in the garage will be explained with reference to FIG. As shown in FIG. 7A, an X-axis reflector 24- for detecting the position and angle of the automobile 20 in the X direction.
a, y-axis reflector 2 that detects the position of the car 20 in the X direction;
Place 4b. Consider the case where the vehicle stops at the position shown in FIG. 7B and the automatic steering mode is started from there. First, the steering angle command is set to O and the vehicle is moved forward. When the state shown in FIG. 7C is reached, the left road surface detection device 21,a detects the position of the X-axis reflector 24a. Then move forward by distance a 1) u, then 71)
As shown in the figure, the right road surface detection device 21b detects the position of the X-shaped reflector 24a. This makes it possible to calculate the position of the vehicle in the X-axis direction and its angle. Based on this,
Subsequent steering angle commands are controlled, and the vehicle moves forward by automatic steering to the position shown in FIG. 7E. Note that if either the left or right road surface detection device [21a, 21b cannot detect the X-axis reflector 24a within the preset limit distance, the starting position in the y-axis direction may be significantly different. As,
Stop autopilot. Next, the vehicle moves backward from FIG. 7E to FIG. 7F. At this time, since the position in the X-axis direction can be detected correctly, the possibility of contact with an adjacent location is extremely small. Then, in FIG. 7F, the left road surface detection device 21a detects the positions of the y-axis reflectors 24 and b.

When the vehicle is further reversed, the right road surface detection device 21 in Fig. 7G
b detects the position of the y-axis reflecting plate 24-b, so the position in the y-axis direction can be obtained from both of them. Therefore, the automobile 20 can be accurately reversed to a predetermined position. From this, if this embodiment is used, it is possible to automatically steer the vehicle to a more accurate position, thereby reducing the number of collisions with the vehicle.

Furthermore, FIG. 8 shows another embodiment in which engine output is suppressed in automatic steering. 8 differs from FIG. 1 in that it includes an engine control device 25 that is controlled by an engine control signal SR from the switching circuit 2.

When the switching circuit 2 is in the automatic steering mode, the engine is controlled as follows. The switching circuit 2 inputs the vehicle speed V from the driving state detection circuit 3 and compares it with the automatic steering limit speed vH^X in the automatic steering mode. Note that this automatic steering limit speed V HAX is set in advance to a low speed that ensures safety.

In the switching circuit 2, the vehicle speed V is the automatic steering limit speed V MA
The engine maximum output command PI3 is calculated so as not to exceed X, and is output to the engine control device 25.

Therefore, when the vehicle speed V exceeds the automatic steering speed limit V MAX, the engine maximum output command PH is reduced. The engine control device [25] controls the engine output in accordance with the driver's accelerator operation if the engine output is within the maximum engine output command PE. The engine output is controlled by an electronic throttle and air-fuel ratio. Here, if the engine output is about to exceed the engine maximum output command PE, the engine control device 25 controls the electronic throttle and the air-fuel ratio so that the engine maximum output command PB is reached. By controlling as described above, in the automatic steering mode, the vehicle speed V can move within the automatic steering limit speed V MAX. Further, in the power steering mode, normal engine control can be performed by setting the maximum engine output command PR to the maximum rating of the engine output.

By using this embodiment, the vehicle speed can be limited during automatic steering, so safety can be improved, and even if the vehicle does come into contact with a wall, damage can be minimized. Furthermore, since the vehicle only moves at a low speed at that time, errors due to control delays, detection delays, etc. can be reduced, so that the vehicle can be accurately stopped at a predetermined stop position at the end of automatic steering.

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

When the switching circuit 2 is in the automatic steering mode, as described above, it checks whether the vehicle is being driven in a manner different from that expected in the automatic steering mode. Check item 1
1 may be the same as that described above, but since the vehicle is controlled to operate at medium speeds below the vehicle speed limit value, there is no need to check this. If it is determined that the vehicle is being operated in a different manner, the switching circuit 2 outputs a brake activation signal to the brake control device 26.

In the brake control device 26, when this brake activation signal is input, a control +'jJ force is applied to each tire of the automobile using a hydraulic cylinder. The brake control device 26 is operated until the automobile stops. The switching circuit 2 confirms that the vehicle speed has reached O and releases the brake activation signal. As a result, the brake control device 26 sets the braking force to zero. Next, the switching circuit 2 changes the operating method from the automatic steering mode 1 to the power steering mode.

With the above operations, if the driver drives in a manner different from the way expected by the automatic steering mode, the vehicle will be brought to a stop and then operate as a normal power steering device, further increasing safety. Autopilot system can be provided.

In addition, in automatic steering mode, even if the driver is delayed in operating the brake pedal when a stop command is issued,
It will stop automatically, so the horse 1 will be in the position you expected.
゛There is also the advantage of being able to drive there.

The above is an embodiment of the present invention, and an example in which an electric motor is used as the actuator has been described, but a drive device using hydraulic pressure may also be used as the actuator. Here, we used parking in a garage as an example of automatic steering, but parallel parking;, it, I+! Needless to say, the present invention can be similarly applied to starting from a garage or parallel parking. In addition, it can be applied to change the automatic steering function even when the direction of entry is opposite, such as when entering a car (41) or parallel parking. Furthermore, it is also obvious that a device can be added that provides a warning to the driver by arranging contact sensors at various parts on the outside of the vehicle.

〔Effect of the invention〕

According to the present invention, a power steering function and an automatic steering function can be realized by using one actuator and switching its control method using a switching device. The system can determine whether the driver's driving condition is suitable for automatic steering and switch between automatic UJ steering and power steering, which has the effect of improving safety.

4. Explanation of Drawings Fig. 1 is a schematic diagram of the steering system of the present invention when a motor is applied as an actuator, Fig. 2 is a plan view of the operation panel of the driver operating device in Fig. 1, and Fig. 3. Figures A to 3C are schematic diagrams showing the automatic steering force θ when parking the vehicle in the garage.
Figures A and 4B are graphs showing the relationship between the travel distance of the car and the steering angle command in automatic steering of the last vehicle bid, Figure 5 is a flowchart showing the sequence of the switching circuit in automatic steering mode, and Figure 6 is a graph showing road surface information. Schematic diagram of another steering device that feedback-controls the parking position using the
Figure G is a schematic diagram showing the control method of automatic steering when parking in the garage in Figure 6, and Figure 8 is a schematic diagram showing the control method of automatic steering when parking in the garage. Schematic diagram of the device. FIG. 9 is a schematic diagram of a steering device showing another embodiment in which brake control is combined.

DESCRIPTION OF SYMBOLS 1...Control device, 2...Switching circuit, 3. Operating state detection circuit, 4.Motor control circuit, 5. Electric motor (actuator), 6.Steering wheel, 7a, 7b
- Tires, 8... Steering shaft, 9... Clutch, 10... Steering torque detector, 11... Rudder angle detector, 12... Vehicle speed pulse generator, 13 Gear position detector, ] 4 Eight Terry, 15... Driver operating device, 18
switching command circuit, 17 display circuit, 18... audio circuit,
]9 Operation button, 20. Car, 2] Road surface detection device, 22 Light emitting device, 23 Light receiving device, 24 Reflection plate, 25 Engine control device, 26 Brake control device.

Claims (1)

[Scope of Claims] 1. A steering wheel that steers the tires of an automobile, an actuator that controls the steering direction of the tires, a driving state detecting means for detecting the driving state of the automobile, and the driving state detecting means. a steering control means for controlling the actuator according to a signal from the steering wheel, a reporting means for instructing the driver on how to drive, and a power steering system for driving the actuator according to the steering torque of the steering wheel obtained from the driving state detection means. mode, and an automatic steering mode in which a predetermined driving method is notified to the driver from the reporting means, and the actuator is controlled to a predetermined steering angle according to the travel distance of the automobile obtained from the driving state detection means. A steering device characterized by having a mode switching means that can be switched. 2. The steering device according to claim 1, wherein the actuator is an electric motor. 3. In claim 1, when in the power steering mode, when the driver specifies mode switching, the vehicle switches to the automatic steering mode, and when in the automatic steering mode, when the driver specifies mode switching, or A steering device characterized in that the steering device switches to a power steering mode when a driving operation that differs from the instructions of the above-mentioned notification means is performed. 4. The steering system according to claim 1, wherein a parking position obtained from the road surface is detected, and the steering angle is corrected based on the parking position. 5. The steering system according to claim 1, further comprising engine control means for controlling the engine so that the automobile moves at a predetermined vehicle speed or less when in the automatic steering mode. 6. In claim 1, brake control means controls the brakes to stop the automobile when the mode switching means determines that driving different from the instruction of the notification means is being performed in the automatic steering mode. A steering device characterized by comprising: 7. The steering system according to claim 1, wherein during the automatic steering mode, the notification means notifies the automatic steering mode by voice at regular intervals. 8. The steering system according to claim 3, wherein the automatic steering mode is switched to the power steering mode when the steering torque exceeds a predetermined value. 9. The steering system according to claim 3, wherein the automatic steering mode is switched to the power steering mode when the vehicle speed of the automobile obtained from the driving state detection means exceeds a predetermined value. 10. The steering system according to claim 3, wherein the automatic steering mode is switched to the power steering mode when the automobile moves in a direction different from the direction indicated by the notification means. 11. In claim 3, when the moving distance becomes a predetermined value or more after the reporting means reports the stop command,
A steering device characterized in that the automatic steering mode is switched to the power steering mode. 12. An actuator that generates steering torque is attached to the steering device that steers the tires, and when operating in normal power steering mode, the driver's steering torque is detected, and the torque generated from the actuator is thereby controlled. An automatic steering system characterized in that when operating in a steering mode, a mode switching means selects one of these control methods so that an actuator controls a steering wheel angle depending on a distance traveled by a vehicle. 13. Equipped with a notification means for instructing the driver how to drive, and a driving state detection means for detecting the driving state, and when the driver drives in a manner different from the instructions of the notification means during automatic steering mode, the mode of the steering system is changed. What is claimed is: 1. An automatic steering system characterized by having means for switching from an automatic steering mode to a power steering mode, and for notifying a driver of the switching of the mode using a notification means.