PURPOSE: To avoid an obstacle existing on a drive lane through smooth steering by means of the automatic steering device for vehicle.
CONSTITUTION: The device is provided with a steering actuator 19, a lane recognition means 6 and a steering control means 5, and also with an obstacle recognition means 7 and a vehicle velocity detection means 12, and the steering control means 5 is provided with an obstacle avoidance steering control means 18 that makes a vehicle 1 avoid to an obstacle avoidance area, and the obstacle avoidance steering control by the obstacle avoidance steering control means 18 is made up of a program steering control steering in the preset steering mode to set a 1st steering angle, a feedback steering control setting a 2nd steering angle so as to drive the vehicle 1 along the drive lane of an obstacle avoidance area for steering, and a transition time steering control so that the 2nd steering angle is gradually much emphasized than the 1st steering angle at the transition from the program steering control to the feedback steering control based on a time weight mean of the 1st and 2nd steering angles.
SHINPO TOSHIYA
HAYASHI YUICHIRO
HAYAFUNE KAZUYA
YAMADA KIICHI
