JPH1178934A - Automatic steering device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an automatic steering device in which the steering action by a driver in the same direction as the direction of the target steering angle is equal to that in the direction opposite thereto. SOLUTION: An automatic steering device achieves the steering by controlling the motor current and by controlling the rotation of a steering motor 19 so that the steering angle detected by steering angle detecting means 21-26 is equal to the target steering angle. The automatic steering device is provided with a torque sensor 27 to detect the steering torque of a steering wheel and a motor current control means 14a to reduce the motor current according to the increase in the steering torque value when the steering direction indicated by the steering torque value detected by the torque sensor 27 is same as the direction of the target steering angle, and to increase the motor current according to the increase in the steering torque value when the steering direction indicated by the steering torque value is opposite to the direction of the target steering angle.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention controls a motor current and controls a steering motor so that a steering angle becomes equal to a target steering angle determined from a relative relationship with a sign present on or near a road. The present invention relates to an automatic steering device that performs steering by controlling rotation.

[0002]

2. Description of the Related Art FIG. 10 is a block diagram showing a configuration example of a conventional automatic steering device. This automatic steering device is a CCD
The road information processing unit 10 processes road information, which is a relative relationship with a sign present on or near the road, by image processing, reflection of ultrasonic waves or laser beams, or the like. The relative steering angle detection unit 11 detects the relative steering angle to be steered from the road information processed by the road information processing unit 10, and the target steering angle calculation unit 12 calculates the relative steering angle detected by the relative steering angle detection unit 11. The target steering angle is calculated from the indicated steering angle.

[0003] The automatic steering device also includes an encoder 22 and an actual steering angle detector 25 for detecting a relative rotation steering angle from the rotation of the steering wheel, and an encoder 21 for detecting the midpoint of the steering angle from the rotation of the steering wheel. , A marker 23 and a reference point detection unit 24, and a subtraction calculation unit 26 calculates the absolute actual steering angle by subtracting the output of the reference point detection unit 24 from the output of the actual steering angle detection unit 25. The steering angle deviation calculating unit 13 calculates a steering angle deviation between the target steering angle calculated by the target steering angle calculating unit 12 and the absolute actual steering angle calculated by the subtraction calculating unit 26. The steering angle deviation calculated by the steering angle deviation calculating unit 13 is given to a PI control unit 14, and the PI control unit 14 outputs a target motor current value for PI control according to the given steering angle deviation.

The target motor current value output from the PI control section 14 is phase-compensated by a phase compensation section 15. The difference between the phase-compensated target motor current value and the motor current value detected by the motor current detection unit 18 is calculated in the subtraction calculation unit 16, and the PI control unit 17 determines the PI according to the calculated difference. The motor drive voltage is given to the motor 19 by the control. The motor 19 is separated from and connected to a steering mechanism (not shown) by a clutch 20 via a gear mechanism (not shown).
The driver operates the steering wheel, but when the operation direction of the driver is different from the direction of the target steering angle calculated by the target steering angle calculation unit 12, the direction of the target steering angle has priority.

[0005]

In the conventional automatic steering apparatus, as described above, the direction of the target steering angle calculated by the target steering angle calculation unit 12 is given priority, but the driver is forced to move in the direction of the target steering angle. On the other hand, there is a problem that the steering operation (steering speed) is different between the case where the steering is attempted in the opposite direction and the case where the steering is attempted in the same direction.

Further, as described above, the target steering angle calculating unit 1
The direction of the target steering angle calculated by 2 is given priority. However, when the driver attempts to steer in the direction of the target steering angle, steering assistance is performed, and when the driver attempts to steer in the opposite direction, steering assistance is performed. However, in this case, the driver may not notice that the vehicle is turning in the reverse direction, and may continue useless steering. Further, in the steering based only on the steering angle deviation calculated by the steering angle deviation calculating unit 13, the influence of the road surface friction or the like cannot be reflected in the steering control. For example, depending on the automatic driving condition in a state where the road surface is dry, When traveling on a wet road surface, there is a risk that the behavior of the vehicle may become unstable, and optimal steering control cannot be performed under the opposite settings and conditions. Therefore, it is conceivable to detect the friction coefficient of the road surface from the yaw, the steering angle, the vehicle speed, and the like detected by the yaw sensor. However, there is a problem that the number of sensors increases and the calculation becomes complicated.

The present invention has been made in view of the above circumstances, and in the first invention, in the same direction as when the driver tries to turn in the opposite direction to the direction of the target steering angle. It is an object of the present invention to provide an automatic steering device in which the steering operation when turning is attempted is the same. In the second invention,
It is an object of the present invention to provide an automatic steering device that does not cause the behavior of a vehicle to become unstable. It is an object of the third invention to provide an automatic steering device that allows a driver to notice that the driver is turning in a direction opposite to the direction of the target steering angle. A fourth object of the present invention is to provide an automatic steering device that can reflect the influence of road surface friction and the like on steering control without increasing the number of sensors and performing complicated calculations.

[0008]

According to a first aspect of the present invention, there is provided an automatic steering apparatus for controlling rotation of a steering motor by controlling a motor current so that a steering angle detected by a steering angle detecting means becomes equal to a target steering angle. In the automatic steering apparatus, a torque sensor that detects a steering torque of a steered wheel, and the steering direction indicated by the steering torque value detected by the torque sensor and the direction of the target steering angle are the same, the steering torque When the steering direction indicated by the steering torque value is opposite to the direction of the target steering angle, the motor current is increased according to the increase in the steering torque value. Motor current control means for causing

In this automatic steering system, the torque sensor detects the steering torque of the steering wheel. Then, when the steering direction indicated by the detected steering torque value and the direction of the target steering angle are in the same direction, the motor current control means decreases the motor current in accordance with the increase in the steering torque value, and the steering torque value is reduced. When the indicated steering direction and the direction of the target steering angle are opposite, the motor current is increased in accordance with the increase in the steering torque value. This makes it possible to equalize the steering operation when the driver tries to turn in the opposite direction to the direction of the target steering angle and when the driver tries to turn in the same direction.

An automatic steering apparatus according to a second aspect of the present invention controls the motor current and controls the rotation of the steering motor so that the steering angle detected by the steering angle detecting means becomes equal to the target steering angle. A vehicle speed sensor for detecting the vehicle speed, a yaw sensor for detecting the yaw of the vehicle, a storage means for storing a yaw limit value of the vehicle according to the vehicle speed, a yaw value detected by the yaw sensor and a vehicle speed detected by the vehicle speed sensor Comparing means for comparing the magnitude with the yaw limit value in the above, and current control means for decreasing or reversing the motor current when the yaw value is larger than the yaw limit value. It is characterized by having.

In this automatic steering device, the vehicle speed sensor detects the vehicle speed, and the yaw sensor detects the yaw of the vehicle. The comparing means compares the yaw value detected by the yaw sensor with the yaw limit value stored in the storage means at the vehicle speed detected by the vehicle speed sensor. The current control means decreases or reverses the motor current when the comparison result indicates that the yaw value is larger than the yaw limit value. Thereby, the possibility that the behavior of the vehicle becomes unstable can be eliminated.

An automatic steering apparatus according to a third aspect of the present invention is an automatic steering apparatus in which steering is performed by controlling the rotation of a steering motor so that the steering angle detected by the steering angle detecting means becomes equal to the target steering angle. A torque sensor for detecting torque, a means for determining whether a steering direction indicated by a steering torque value detected by the torque sensor and a direction of the target steering angle match, and the means determining that both directions do not match. And a warning means for issuing a warning.

In this automatic steering apparatus, the torque sensor detects the steering torque of the steered wheels, and the determining means determines whether the steering direction indicated by the detected steering torque value matches the direction of the target steering angle. Then, when the determining unit determines that the two directions do not match, the warning unit issues a warning. This allows the driver to notice that the vehicle is turning in the direction opposite to the target steering angle.

[0014] In the automatic steering apparatus according to the fourth aspect, the steering angle detected by the steering angle detecting means is determined based on a relative positional relationship with one or more markers existing on or near the road and a preceding vehicle. A vehicle speed sensor for detecting a vehicle speed and a brake, wherein the automatic steering device includes switching means for switching between automatic steering and manual steering by controlling the motor current and controlling the rotation of the steering motor so as to be equal to the target steering angle. Information indicating the relative positional relationship, the target steering angle, the steering angle detected by the steering angle detection means, the vehicle speed detected by the vehicle speed sensor, and the brake operation detection means detecting the operation. When information indicating a brake operation is provided and the switching means is switched to manual steering, the tendency of the manual steering and the tendency of the brake operation are learned. When the switching means is switched to automatic steering, a current control signal and a brake operation signal are transmitted to execute automatic steering and brake operation based on the learned tendency of manual steering and the tendency of brake operation. It is characterized by comprising a neural network for outputting, and motor current control means for controlling the motor current based on the current control signal, and performing a brake operation based on the brake operation signal.

In this automatic steering system, the vehicle speed sensor detects the vehicle speed, the brake operation detecting means detects the brake operation, and the neural network provides information indicating the relative positional relationship, the target steering angle, the steering angle, the vehicle speed and the brake operation. Is provided. The neural network learns the tendency of the manual steering and the tendency of the brake operation when the switching means is switched to the manual steering, and learns the learned manual operation when the switching means is switched to the automatic steering. A current control signal and a brake operation signal are output to execute automatic steering and a brake operation based on the steering tendency and the brake operation tendency. The motor current control means controls the motor current based on the current control signal. Then, the brake operation is performed based on the brake operation signal.

[0016] Thus, the influence of road surface friction and the like can be reflected in the steering control without increasing the number of sensors and complicated calculations, and the driver reflects the characteristics of his own driving method during automatic steering. The driver does not feel anxious about the steering method on the curve and the timing of braking.

[0017]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below with reference to the drawings showing an embodiment. FIG. 1 is a block diagram showing a configuration of an embodiment of the automatic steering device according to the first invention. In this automatic steering device, the road information processing unit 10 processes road information, which is a relative positional relationship with a sign present on or near a road, by image processing by a CCD, reflection of an ultrasonic wave or a laser beam, or the like. The relative steering angle detection unit 11 detects a relative steering angle to be steered from the road information processed by the road information processing unit 10, and outputs a target steering angle calculation unit 12.
Calculates a target steering angle from the relative instruction steering angle detected by the relative instruction steering angle detection unit 11.

The automatic steering device also includes an encoder 22 and an actual steering angle detector 25 for detecting a relative rotation steering angle from the rotation of the steering wheel, and an encoder 21 for detecting a middle point of the steering angle from the rotation of the steering wheel. , A marker 23 and a reference point detection unit 24, and a subtraction calculation unit 26 calculates the absolute actual steering angle by subtracting the output of the reference point detection unit 24 from the output of the actual steering angle detection unit 25. The steering angle deviation calculating unit 13 calculates a steering angle deviation between the target steering angle calculated by the target steering angle calculating unit 12 and the absolute actual steering angle calculated by the subtraction calculating unit 26. The steering angle deviation calculated by the steering angle deviation calculator 13 is given to the PI controller 14a. The torque sensor 27 detects a steering torque, and the detected steering torque value is given to the PI control unit 14a. PI control unit 14
a is based on the given steering angle deviation and steering torque value,
Outputs the target motor current value for PI control.

The target motor current value output from the PI controller 14a is phase-compensated by the phase compensator 15. The phase-compensated target motor current value is calculated by the subtraction calculation unit 16.
A deviation from the motor current value detected by the motor current detection unit 18 is calculated, and the PI control unit 17 supplies a motor drive voltage to the motor 19 by PI control according to the calculated deviation. The motor 19 is connected via a gear mechanism (not shown)
The clutch 20 separates and connects to a steering mechanism (not shown).

Hereinafter, the operation of the automatic steering device having such a configuration will be described. The road information processing unit 10 processes road information that is a relative positional relationship with a sign present on or near the road, and the relative pointing steering angle detection unit 11 performs processing based on the road information processed by the road information processing unit 10. The relative instruction steering angle to be steered is detected. The target steering angle calculation unit 12 calculates a target steering angle from the relative instruction steering angle detected by the relative instruction steering angle detection unit 11,
This is given to the steering angle deviation calculating unit 13. The subtraction calculation unit 26 calculates the absolute actual steering angle by subtracting the output of the reference point detection unit 24 from the output of the actual steering angle detection unit 25, and supplies the absolute actual steering angle to the steering angle deviation calculation unit 13.

The steering angle deviation calculating section 13 includes a target steering angle calculating section 1
The steering angle deviation between the target steering angle calculated by 2 and the absolute actual steering angle calculated by the subtraction calculation unit 26 is calculated and given to the PI control unit 14a. The PI control unit 14a outputs a target motor current value for PI control based on the given steering angle deviation and the steering torque value from the torque sensor 27.

At this time, as shown in FIG. 2, the PI control unit 14a has a dead zone of the target motor current (assist current) near zero of the steering angle deviation, and the steering angle deviation including positive and negative becomes large and small. Accordingly, the target motor current value is determined based on the target motor current characteristic at which the target motor current becomes large or small. P
The I control unit 14a also determines whether the steering direction indicated by the steering torque value is the same as the direction of the target steering angle, and as shown in FIG. 3, the steering direction indicated by the steering torque value and the target steering angle. The assist coefficient is smaller than 1 when the steering direction is the same direction, larger than 1 when the steering direction indicated by the steering torque value is opposite to the direction of the target steering angle, and becomes 1 when the steering torque value is 0. Is determined, and the target motor current value determined by the above-described target motor current characteristic is multiplied by this assist coefficient and output.

That is, when the steering direction indicated by the steering torque value detected by the torque sensor 27 is the same as the direction of the target steering angle, the automatic steering device (steering torque value (absolute value))
When the steering direction indicated by the steering torque value is opposite to the direction of the target steering angle, the steering current is reduced according to the increase in the steering torque value (absolute value). To increase the steering assist force by increasing the motor current. The target motor current value output by the PI control unit 14a is
The difference between the target motor current value that has been phase-compensated by the phase compensating unit 15 and the phase-compensated target motor value and the motor current value detected by the motor current detecting unit 18 is calculated by the subtraction calculating unit 16. The PI control unit 17 calculates a P value corresponding to the calculated deviation.
The motor current for I control is given to the motor 19, and the motor 1
9 is rotationally controlled.

FIG. 4 is a block diagram showing a configuration of an embodiment of the automatic steering apparatus according to the second invention. In this automatic steering apparatus, the target steering angle calculation unit 12 is configured to control the relative command steering angle detection unit 1
The target steering angle is calculated from the relative command steering angle detected by the control unit 1 and provided to the steering angle deviation calculation unit 13 and the stability control unit 31. The steering angle deviation calculating unit 13 calculates a steering angle deviation between the target steering angle provided from the target steering angle calculating unit 12 and the absolute actual steering angle calculated by the subtraction calculating unit 26, and supplies the calculated steering angle deviation to the PI control unit 14b. The PI control unit 14b outputs a target motor current value for PI control based on the given steering angle deviation.

The target motor current value output from the PI control unit 14b is phase-compensated by the phase compensating unit 15, and the phase-compensated target motor current value is supplied to the subtraction calculating unit 28. The vehicle speed value detected by the vehicle speed sensor 29 and the yaw sensor 3
The detected yaw value of 0 is given to the stability control unit 31. The stability control unit 31 has a table (not shown) that stores the yaw limit value of the vehicle according to the vehicle speed, and the yaw limit value at the vehicle speed detected by the yaw sensor 30 and the yaw limit value at the vehicle speed detected by the vehicle speed sensor 29 are stored. Are compared, and when the detected yaw value becomes larger than the yaw limit value, a signal indicating a current value to be reduced from the target motor current value is given to the subtraction calculation unit 28. The table that stores the yaw limit value is
For example, as shown in FIG. 6, as the vehicle speed increases,
The absolute value of the yaw limit value is configured to be small.

The subtraction operation unit 28 subtracts the current value supplied from the stability control unit 31 from the target motor current value supplied from the phase compensation unit 15, and subtracts the resulting current value from the subtraction operation unit 16. Give to. The subtraction calculation unit 16 calculates a deviation between the current value of the subtraction result and the motor current value detected by the motor current detection unit 18, and the PI control unit 17 performs motor drive by PI control according to the calculated deviation. Voltage is applied to the motor 19. The other configuration is the same as the configuration of the automatic steering device according to the first aspect described above, and thus the description is omitted.

Hereinafter, the operation of the automatic steering device having the above-described configuration will be described with reference to the flowchart of FIG. First, the stability control unit 31
The vehicle speed value is read from the target (S10), and then the direction of the target steering angle given by the target steering angle calculation unit 12 is read (S1).
2). Next, based on the read vehicle speed value and the direction of the target rudder angle, the yaw limit value Y is stored in a table storing the yaw limit value.
L is read (S14).

The stability control unit 31 then controls the yaw sensor 30
Is read (S16), and the magnitudes of the yaw value Y and the yaw limit value YL are compared (S18). When the comparison result indicates that the yaw value Y is equal to or larger than the yaw limit value YL, a signal indicating a current value to be reduced from the target motor current value is given to the subtraction calculation unit 28, and the subtraction calculation unit 28 3
The current value given from 1 is subtracted from the target motor current value given from the phase compensator 15 to reduce the target motor current value (assist current value) (S20). At this time, the current value to be reduced from the target motor current value may be increased so that the target motor current is reversed. The stability control unit 31 determines that the yaw value Y
Is smaller than the yaw limit value YL (S18), no signal indicating the current value to be reduced from the target motor current value is output.

The subtraction operation unit 28 performs the subtraction (S20).
The resulting current value is provided to the subtraction calculation unit 16. The subtraction calculation unit 16 calculates a deviation between the current value and the motor current value detected by the motor current detection unit 18, and the PI control unit 17 calculates
A motor current for PI control according to the calculated deviation is supplied to the motor 19, and the rotation of the motor 19 is controlled. Other operations are the same as those of the above-described automatic steering device according to the first aspect of the present invention, and thus description thereof is omitted.

FIG. 7 is a block diagram showing the configuration of an embodiment of the automatic steering system according to the third invention. In this automatic steering apparatus, the target steering angle calculation unit 12 is configured to control the relative command steering angle detection unit 1
The target steering angle is calculated from the relative command steering angle detected by the control unit 1 and provided to the steering angle deviation calculation unit 13 and the determination unit 32. Judgment unit 32
Determines whether or not the direction of the target steering angle given by the target steering angle calculation unit 12 and the steering direction indicated by the steering torque value detected by the torque sensor 27 match. The buzzer 33 sounds. The steering angle deviation calculating unit 13 calculates a steering angle deviation between the target steering angle provided from the target steering angle calculating unit 12 and the absolute actual steering angle calculated by the subtraction calculating unit 26, and supplies the calculated steering angle deviation to the PI control unit 14c. PI control unit 14c
Outputs a target motor current value for PI control based on a given steering angle deviation.

The target motor current value output from the PI control unit 14c is phase-compensated by the phase compensating unit 15, and the phase-compensated target motor current value is supplied to the subtraction calculating unit 16. The subtraction calculation unit 16 calculates a deviation between the given target motor current value and the motor current value detected by the motor current detection unit 18, and the PI control unit 17 performs PI control according to the calculated deviation. The motor drive voltage is applied to the motor 19. The other configuration is the same as the configuration of the automatic steering device according to the first aspect described above, and thus the description is omitted.

Hereinafter, the operation of the automatic steering apparatus having the above-described configuration will be described with reference to a flowchart shown in FIG. The determination unit 32 firstly sets the target steering angle calculation unit 12
Is read (S30), and then the steering torque value detected by the torque sensor 27 is read (S3).
2).

Next, the judging section 32 judges whether or not the direction of the read target steering angle matches the steering direction indicated by the steering torque value (S34). Is sounded and a warning is issued (S36). When the determination unit 32 determines that they match (S34), the process returns without sounding the buzzer 33. Other operations are the same as those of the above-described automatic steering device according to the first aspect of the present invention, and thus description thereof is omitted.

FIG. 9 is a block diagram showing the configuration of an embodiment of the automatic steering apparatus according to the fourth invention. In this automatic steering device, the road information processing unit 10 processes road information that is a relative positional relationship with a sign present on or near the road by image processing by a CCD, reflection of an ultrasonic wave or a laser beam, and the like. This is given to the neural network 36 and the relative instruction steering angle detection unit 11. Relative command steering angle detector 11
Detects a relative instruction steering angle to be steered from the road information given from the road information processing unit 10 and outputs a target steering angle calculation unit 12
Calculates a target steering angle from the relative instruction steering angle detected by the relative instruction steering angle detection unit 11 and supplies the target steering angle to the steering angle deviation calculation unit 13 and the neural network 36.

The steering angle deviation calculating section 13 includes a target steering angle calculating section 1
2 and the absolute steering angle calculated by the subtraction calculation unit 26, and calculates the steering angle deviation from the PI control unit 14d.
Give to. The absolute actual steering angle calculated by the subtraction calculation unit 26 is
It is also provided to the neural network 36.

The neural network 36 includes the road information provided by the road information processing unit 10, the target steering angle provided by the target steering angle calculation unit 12, and the absolute actual steering angle provided by the subtraction calculation unit 26. The vehicle speed detected by the vehicle speed sensor 34 and the information indicating the brake operation of the brake unit 35 detected by the brake operation detector 35a are given to the input layer, respectively, and the switch 38 is provided with a switch provided near the steering wheel. When the mode is switched to manual steering by 37, the tendency of the manual steering and the tendency of the brake operation are learned. When the switch 38 is switched to the automatic steering, the automatic steering is executed based on the road information, the target steering angle, the absolute actual steering angle, the vehicle speed, the learned manual steering tendency and the learned brake operating tendency. And a brake operation signal for executing the brake operation to the brake unit 35 from the output layer via the switch 38, respectively.

The PI control unit 14d includes a steering angle deviation calculating unit 13
Angle deviation given by
6 to output a target motor current value for PI control based on the current control signal given from 6. The target motor current value output by the PI control unit 14d is phase-compensated by the phase compensation unit 15, and the phase-compensated target motor current value is provided to the subtraction calculation unit 16. The subtraction calculation unit 16 calculates a deviation between the given target motor current value and the motor current value detected by the motor current detection unit 18, and the PI control unit 17 performs PI control according to the calculated deviation. The motor drive voltage is applied to the motor 19. The other configuration is the same as the configuration of the automatic steering device according to the first aspect described above, and thus the description is omitted.

Hereinafter, the operation of the automatic steering device having such a configuration will be described. The neural network 36 subtracts the road information from the road information processing unit 10, the target steering angle from the target steering angle calculation unit 12, and the difference when the switch 38 is switched to manual steering by the changeover switch 37. From the absolute actual steering angle from the arithmetic unit 26, the vehicle speed detected by the vehicle speed sensor 34, and information indicating the brake operation in the brake unit 35 detected by the brake operation detector 35a,
Learning the tendency of manual steering and the tendency of brake operation,
It is stored as a change in synaptic load in neurons in the hidden layer and the output layer.

The neural network 36 includes the switch 3
8 is switched to automatic steering by the changeover switch 37, the learned manual steering tendency and the learned brake operation tendency, the road information from the road information processing unit 10,
The target steering angle from the target steering angle calculation unit 12 and the subtraction calculation unit 2
6, based on the absolute actual steering angle from the vehicle speed and the vehicle speed detected by the vehicle speed sensor 34, a current control signal for executing automatic steering is provided from the output layer to the PI control unit 14d via the switch 38, A brake operation signal for executing the brake operation is provided to the brake unit 35 via the switch 38.

The PI control unit 14d includes a steering angle deviation calculating unit 13
Angle deviation given by
6 to output a target motor current value for PI control based on the current control signal given from 6. This target motor current value is phase-compensated by the phase compensating unit 15 and the subtraction calculating unit 1
6 given. The subtraction calculation unit 16 calculates a deviation between the given target motor current value and the motor current value detected by the motor current detection unit 18, and supplies the deviation to the PI control unit 17. P
The I control unit 17 supplies a motor current for PI control according to the calculated deviation to the motor 19 to control the rotation.
The brake unit 35 includes a neural network 36
The brake operation is executed based on the brake operation signal given by the controller. Other operations are the same as those of the above-described automatic steering device according to the first aspect of the present invention, and thus description thereof is omitted.

[0041]

According to the automatic steering apparatus of the first invention,
The steering operation when the driver tries to steer in the direction opposite to the direction of the target steering angle and when the driver tries to steer in the same direction can be made equal.

According to the automatic steering apparatus of the second aspect, the possibility that the behavior of the vehicle becomes unstable can be eliminated.

According to the automatic steering system of the third aspect, the driver can notice that the vehicle is turning in the direction opposite to the direction of the target steering angle.

According to the automatic steering apparatus of the fourth aspect, the influence of road surface friction and the like can be reflected in the steering control without increasing the number of sensors and performing complicated calculations. Since the characteristics of the driver's own driving method are sometimes reflected, he does not feel anxious about the steering method on the curve, the timing of braking, and the like.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a configuration of an embodiment of an automatic steering device according to a first invention.

FIG. 2 is a characteristic diagram showing a target motor current (assist current) characteristic based on a steering angle deviation of the automatic steering device according to the first invention.

FIG. 3 is a characteristic diagram showing an assist coefficient characteristic based on a steering torque value and a target steering angle.

FIG. 4 is a block diagram showing a configuration of an embodiment of an automatic steering device according to a second invention.

FIG. 5 is a flowchart showing an operation of the automatic steering device according to the second invention.

FIG. 6 is a characteristic diagram showing a yaw limit value characteristic based on a vehicle speed.

FIG. 7 is a block diagram showing a configuration of an embodiment of an automatic steering device according to a third invention.

FIG. 8 is a flowchart showing an operation of the automatic steering device according to the third invention.

FIG. 9 is a block diagram showing the configuration of an embodiment of the automatic steering device according to the fourth invention.

FIG. 10 is a block diagram showing a configuration of a conventional automatic steering device.

[Explanation of symbols]

 Reference Signs List 10 Road information processing unit 11 Relative command steering angle detection unit 12 Target steering angle calculation unit 13 Steering angle deviation calculation unit 14a, 14d PI control unit (motor current control means) 14b, 14c, 17 PI control unit 16, 28 Subtraction calculation Unit 18 Motor current detecting unit 19 Motor 21 and 22 Encoder (steering angle detecting unit) 23 Marker (steering angle detecting unit) 24 Reference point detecting unit (steering angle detecting unit) 25 Actual steering angle detecting unit (steering angle detecting unit) 26 Subtraction calculation unit (steering angle detection unit) 27 Torque sensor 29, 34 Vehicle speed sensor 30 Yaw sensor 31 Stability control unit (storage unit, comparison unit) 32 Judgment unit (judgment unit, warning unit) 33 Buzzer (warning unit) 35 Brake Unit 35a Brake operation detector (brake operation detection means) 36 Neural network 37 Changeover switch (switching means) 38 Switching device (switching means)

Claims (4)

[Claims] 1. An automatic steering device that controls a motor current and controls a rotation of a steering motor so that a steering angle detected by a steering angle detection means becomes equal to a target steering angle. When the steering direction indicated by the steering torque value detected by the torque sensor and the direction of the target steering angle are the same direction, the motor current is decreased in accordance with the increase in the steering torque value, When the steering direction indicated by the steering torque value and the direction of the target steering angle are opposite, motor current control means for increasing the motor current according to an increase in the steering torque value is provided. Steering gear. 2. A vehicle speed sensor for detecting a vehicle speed in an automatic steering device that controls a motor current and controls a rotation of a steering motor so that a steering angle detected by a steering angle detection unit becomes equal to a target steering angle. A yaw sensor for detecting the yaw of the vehicle, a storage means for storing a yaw limit value of the vehicle according to the vehicle speed, and a magnitude of a yaw value detected by the yaw sensor and a yaw limit value at a vehicle speed detected by the vehicle speed sensor. And a current control means for reducing or reversing the motor current when the yaw value is greater than the yaw limit value. apparatus. 3. An automatic steering apparatus for steering by controlling the rotation of a steering motor so that the steering angle detected by the steering angle detection means becomes equal to the target steering angle. A torque sensor for detecting a steering torque of a steering wheel; Means for determining whether the steering direction indicated by the steering torque value detected by the torque sensor matches the direction of the target steering angle, and warning means for issuing a warning when the means determines that the two directions do not match. An automatic steering device comprising: 4. The steering angle detected by the steering angle detecting means is equal to a target steering angle determined from a relative positional relationship between one or more sign objects existing on or near a road and a preceding vehicle. A vehicle speed sensor for detecting a vehicle speed, and a brake operation detecting means for detecting a brake operation in an automatic steering device including switching means for switching between automatic steering and manual steering by controlling the motor current and controlling the rotation of a steering motor. Information indicating the relative positional relationship, the target steering angle, the steering angle detected by the steering angle detection means,
Information indicating the vehicle speed detected by the vehicle speed sensor and the brake operation detected by the brake operation detection means is provided,
When the switching means is switched to manual steering, the manual steering tendency and the brake operation tendency are learned, and when the switching means is switched to automatic steering, the learned manual steering is learned. A neural network that outputs a current control signal and a brake operation signal to execute automatic steering and a brake operation based on the tendency of the brake operation and the tendency of the brake operation, based on the current control signal,
An automatic steering device comprising: a motor current control unit configured to control the motor current, and performing a brake operation based on the brake operation signal.