JP4092045B2 - Automatic vehicle steering system - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an automatic vehicle steering apparatus for automatically parking a vehicle without depending on a steering operation of a driver.
[0002]
[Prior art]
Such automatic steering devices for vehicles are already known from Japanese Patent Laid-Open Nos. 4-55168 and 10-114274. These automatic vehicle steering devices use a steering actuator of a conventionally known electric power steering device, and control the steering actuator based on the relationship between the vehicle movement distance and the turning angle stored in advance. Parking and parallel parking are performed automatically.
[0003]
[Problems to be solved by the invention]
By the way, in the above-mentioned conventional ones, the driver is instructed to stop the vehicle at the stop position (turnback position or target position) on the movement locus of the vehicle, but when the vehicle speed is low, the stop instruction is received. However, if the vehicle speed is high, the travel distance from when the stop command is received until the vehicle stops increases, and it is difficult to stop correctly at a certain stop position. It is. Thus, if the vehicle cannot be stopped correctly at the stop position on the movement track, the vehicle cannot be accurately guided to the final target position. This is also true when the vehicle is stopped at the stop position by automatic braking regardless of the driver's braking operation.
[0004]
The present invention has been made in view of the above-described circumstances, and an object thereof is to enable accurate automatic steering control by correctly stopping a vehicle at a stop position on a movement locus regardless of a change in traveling environment.
[0005]
[Means for Solving the Problems]
In order to achieve the above object, according to the first aspect of the present invention, a movement trajectory setting means for storing or calculating a movement trajectory of a vehicle up to a target position, a steering actuator for turning wheels, A movement distance for detecting a movement distance of a vehicle in an automatic steering apparatus for a vehicle including an actuator control means for controlling driving of a steering actuator based on a movement locus set by a movement locus setting means while moving to a target position The moving distance detecting means comprises: a detecting means; a traveling environment detecting means for detecting a positional relationship between the vehicle and surrounding objects as a traveling environment of the vehicle; and a braking control means for operating a braking support means of the vehicle. When the movement distance detected in (b) reaches a predetermined distance, the braking control means activates the braking assistance means and the braking assistance means. Automatic steering apparatus for a vehicle and changes in accordance with operation timing of the stage on a detection result of the traveling environment detection means is proposed.
[0006]
According to the above configuration, when the braking support means is operated when the moving distance of the vehicle reaches a predetermined distance in order to correctly stop the vehicle at the stop position in the process of automatic steering control, the operation timing of the braking support means Is changed according to the detection result of the driving environment detection means, that is, the positional relationship between the vehicle and the surrounding objects, so that the vehicle is automatically stopped at the stop position automatically regardless of the change in the driving environment (that is, the positional relationship). The accuracy of steering control can be increased.
[0009]
According to the invention described in claim 2, in addition to the first aspect, it comprises a proper stop position determining means for determining the proper stop position based on the detected positional relationship by the traveling environment detection means Thus, an automatic vehicle steering apparatus is proposed in which the braking control means changes the operation timing of the braking support means based on the appropriate stop position determined by the appropriate stop position determination means.
[0010]
According to the above configuration, the appropriate stop position is determined based on the positional relationship with the object detected by the travel environment detection means, and the operation timing of the braking support means is changed based on the appropriate stop position. It can be stopped correctly at the stop position.
[0011]
According to a third aspect of the present invention, in addition to the configuration of the first aspect, the travel environment detecting means detects the positional relationship and detects the vehicle speed. An automatic vehicle steering device is proposed.
[0012]
According to the above configuration, since the traveling environment detecting unit detects the vehicle speed of the vehicle, it is possible to compensate for the deviation of the stop position caused by the vehicle speed.
[0013]
According to a fourth aspect of the present invention, in addition to the configuration of the third aspect, the braking control means advances the operation timing of the braking support means as the vehicle speed detected by the traveling environment detection means increases. An automatic vehicle steering device is proposed.
[0014]
According to the above configuration, when the vehicle speed is high, the vehicle overruns beyond the stop position can be accurately compensated by advancing the operation timing of the braking support means.
[0015]
The operation stage teaching device 11 and the automatic braking device 31 of the embodiment correspond to the braking support means of the present invention, the control unit 22 of the embodiment corresponds to the actuator control means of the present invention, and the storage unit 23 of the embodiment includes Corresponding to the movement trajectory setting means of the present invention, the front wheel Wr of the embodiment corresponds to the wheel of the present invention.
[0016]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described based on examples of the present invention shown in the accompanying drawings.
[0017]
1 to 9 show a first embodiment of the present invention. FIG. 1 is an overall configuration diagram of a vehicle equipped with a steering control device, FIG. 2 is an explanatory diagram of the operation of a back parking / left mode, and FIG. view showing a selection switch and automatic parking start switch, FIG. 4 is a block diagram of the stop position correcting means, Fig 5 showing the relationship between the moving distance X ₁ between the vehicle speed v, 6 the relationship between vehicle speed v and the teaching timing FIG. 7 is a diagram for explaining the influence of the deviation of the start position (1) on the target position (3). FIG. 8 is an explanatory diagram of the first method for correcting the deviation of the start position (1). 9 is an explanatory diagram of a second method for correcting the deviation of the start position (1).
[0018]
As shown in FIG. 1, the vehicle V includes a pair of front wheels Wf, Wf and a pair of rear wheels Wr, Wr. Steering wheel 1 and front wheels Wf, Wf as steering wheels rotate integrally with steering wheel 1, steering shaft 2, pinion 3 provided at the lower end of steering shaft 2, rack 4 meshing with pinion 3, and rack 4 Are connected by left and right tie rods 5, 5 provided at both ends, and left and right knuckles 6, 6 connected to tie rods 5, 5. A steering actuator 7 made of an electric motor is connected to the steering shaft 2 via a worm gear mechanism 8 in order to assist the operation of the steering wheel 1 by the driver or to perform automatic steering for garage entry, which will be described later.
[0019]
The steering control unit 21 is composed of a control unit 22 storage unit 23, the control unit 22, and the steering angle detecting means S ₁ for detecting the turning angle θ is the rotation angle of the steering wheel 1, steering Steering torque detection means S ₂ for detecting the steering torque T of the wheel 1, front wheel rotation angle detection means S ₃ and S ₃ for detecting the rotation angles of the left and right front wheels Wf, Wf, and the operation amount of the brake pedal 9 are detected. Brake operation amount detection means S ₄ and shift range detection means S ₅ for detecting the shift range (“D” range, “R” range, “N” range, “P” range, etc.) selected by the select lever 10 , Signals from a total of eight object detection means S ₈ provided at the front, center and rear of the vehicle V are input. The object detection means S ₈ is composed of a known sonar, radar, TV camera and the like. The lines connecting the _eight object detection means S ₈ ... And the control unit 22 are omitted in order to prevent complication of the drawing.
[0020]
As is clear from FIG. 3, the mode selection switch S ₆ and the automatic parking start switch S ₇ operated by the driver are connected to the control unit 22. Mode selecting switch S ₆ is operated to select later-described four types of parking mode, i.e. reverse parking / right mode, reverse parking / left mode, one of the parallel parking / right mode and parallel parking / left mode 4 buttons are provided. Automatic parking start switch S ₇ is operated to start automatic parking according to any of the mode selected by the mode selection switch S _6.
[0021]
In the storage unit 23, the data of the four types of parking modes, that is, the relationship of the reference turning angle θref with respect to the movement distance X of the vehicle V is stored in advance as a table. The moving distance X of the vehicle V is obtained by multiplying the known circumference of the front wheel Wf by the rotation angle of the front wheel Wf detected by the front wheel rotation angle detection means S ₃ and S ₃ . For calculating the movement distance X, the high select value, low select value, or average value of the outputs of the pair of left and right front wheel rotation angle detecting means S ₃ and S ₃ is used.
[0022]
Based on the signals from the detection means S _{1 to} S ₅ , S ₈ ... And the switches S ₆ and S ₇ and the parking mode data stored in the storage unit 23, the control unit 22 controls the steering actuator 7. And the operation of the operation stage teaching apparatus 11 including a liquid crystal monitor, a speaker, a lamp, a chime, a buzzer, and the like.
[0023]
FIG. 4 shows that the stop position (turnback position {circle over (2)} and target position {circle over (3)}) is prevented from shifting due to the magnitude of the vehicle speed v during the automatic steering control, or the stop position ( In order to prevent the target position (3)) from shifting, stop position correcting means provided in the control unit 22 is shown. The stop position correction unit provided in the control unit 22, the moving distance detecting means M1 for detecting a moving distance X of the vehicle V based on the front wheel Wf detected by wheel rotation angle detecting means S _3, S _3, the rotation angle of Wf The vehicle speed v of the vehicle V is detected based on the differential value of the rotation angle of the front wheels Wf, Wf, and an object such as a garage or other vehicle is detected from the own vehicle based on the output of the object detection means S ₈ . A travel environment detection unit M2 that detects a positional relationship, a proper stop position determination unit M3 that determines a proper stop position of the vehicle V based on the positional relationship between the object detected by the travel environment detection unit M2 and the host vehicle, and a moving distance Based on the movement trajectory X of the vehicle V detected by the detection means M1 and the vehicle speed v of the vehicle V detected by the travel environment detection means M2, or based on the appropriate stop position determined by the appropriate stop position determination means M3. Activate Consists of the braking control means M4 Metropolitan.
[0024]
In the first embodiment, the operation stage teaching device 11 corresponds to the braking support means, and the operation stage teaching apparatus 11 is controlled by instructing the driver to step on the brake pedal 9 in response to a command from the braking control means M4. Generate power. In a second embodiment to be described later, the automatic braking device 31 (see FIG. 10) corresponds to the braking support means, and the automatic braking device 31 automatically generates a braking force in response to a command from the braking control means M4.
[0025]
Next, the operation of the embodiment of the present invention having the above-described configuration will be described.
[0026]
The normal time when not used to automatically parking (when the mode selecting switch S ₆ is not operated), the steering control apparatus 21 functions as a general power steering control unit. Specifically, when the driver operates the steering wheel 1 to turn the vehicle V, the steering torque detection means S ₂ detects the steering torque T input to the steering wheel 1, and the control unit 22 determines the steering torque T. Based on this, the driving of the steering actuator 7 is controlled. As a result, the left and right front wheels Wf and Wf are steered by the driving force of the steering actuator 7, and the driver's steering operation is assisted.
[0027]
Next, the content of the automatic steering control will be described by taking the back parking / left mode (a mode in which the vehicle is parked while backing to the parking position on the left side of the vehicle V) as an example.
[0028]
First, as shown in FIG. 2 (A), the vehicle V is moved to the vicinity of the garage to be parked by the driver's own steering operation, and is determined in advance with the left side of the vehicle body as close as possible to the garage entrance line. The vehicle V is stopped at a position (start position {circle around (1)}) where the reference (for example, a mark or side mirror provided inside the door) coincides with the center line of the garage. Then, ON the automatic parking start switch S ₇ with to select the back parking / left mode by operating the mode selection switch S ₆ Then, the automatic steering control is started. While the automatic steering control is being performed, the operation stage teaching device 11 switches the current position of the own vehicle, surrounding obstacles, the parking position, the predicted movement trajectory of the own vehicle from the start position to the target position, and switching from forward to reverse. The turn-back position and the like are displayed, and various instructions and warnings such as operation of the select lever 10 at the turn-back position are given to the driver by sound from the speaker.
[0029]
The automatic steering control, the driver based on data alone without operating the steering wheel 1, reverse parking / left mode selected by the mode selection switch S ₆ is creeping vehicle V loosen the brake pedal 9 The front wheels Wf, Wf are automatically steered. That is, while the vehicle V moves forward from the start position {circle over (1)} to the turning position {circle around (2)}, the front wheels Wf and Wf are automatically steered to the right, while the vehicle V moves backward from the turning position {circle around (2)} to the target position {circle around (3)}. The front wheels Wf, Wf are automatically steered to the left.
[0030]
As apparent from FIG. 2 (B), during automatic steering, the control unit 22 reads the back parking / left mode reference turning angle θref read from the storage unit 23 and the turning angle detection means S _1. The deviation E (= θref−θ) is calculated on the basis of the turning angle θ input from, and the operation of the steering actuator 7 is controlled so that the deviation E becomes zero. At this time, since the data of the reference turning angle θref is set corresponding to the movement distance X of the vehicle V, the vehicle V always moves on the movement locus even if there is a slight fluctuation in the creep travel vehicle speed v. Will do.
[0031]
Since the automatic steering control is performed while the driver steps on the brake pedal 9 and the vehicle creeps, the vehicle V can be stopped by quickly depressing the brake pedal 9 when the driver finds an obstacle. .
[0032]
The above-described automatic steering control is stopped when the driver turns off the mode selection switch S ₆ , but in addition, when the driver releases his foot from the brake pedal 9 or when the driver operates the steering wheel 1. Canceled and returns to normal power steering control.
[0033]
By the way, when the vehicle V stops at the return position {circle around (2)} which is the stop position, even if the driver steps on the brake pedal 9 a certain distance before the return position {circle around (2)}, If the vehicle speed v is small and the moving distance until the vehicle V stops becomes small, it becomes difficult to correctly stop the vehicle V at the turn-back position (2). For example, the response time from when the driver is taught by the operation stage teaching device 11 to stepping on the brake pedal 9 is 0.5 sec, and the deceleration of the vehicle V generated by pressing the brake pedal 9 is 0.5 m / sec. Assuming ² , when the vehicle speed v is 1 km / h, the moving distance X ₁ until the stop is 16 cm, whereas when the vehicle speed v is 5 km / h, the moving distance X ₁ until the stop is 119 cm. (See FIG. 5).
[0034]
Accordingly, the timing for teaching the driver to step on the brake pedal 9 by operating the operation stage teaching device 11 is set 16 cm before the turn-back position (2) when the vehicle speed v is 1 km / h, and the vehicle speed v is 5 km. In the case of / h, the vehicle V can be correctly stopped at the folding position {circle around (2)} if it is set 119 cm before the folding position {circle around (2)} (see FIG. 6).
[0035]
Since the movement distance X ₂ from the start position {circle around (1)} to the stop position (turnback position {circle around (2)} and target position {circle around (3)}) of the vehicle V is known based on the movement trajectory stored in advance, the movement distance detection means When the movement distance X detected in M1 reaches X ₂ −X ₁ , that is, when the vehicle V reaches the front of the movement distance X ₁ from the stop position, the operation stage teaching device in which the braking control means M4 is the braking assistance means. 11 may be instructed to step on the brake pedal 9 by issuing a command to the driver. Since the travel distance X ₁ changes in accordance with the vehicle speed v, the travel environment detection means M2 calculates each time based on the vehicle speed v calculated from the outputs of the front wheel rotation angle detection means S ₃ and S ₃ .
[0036]
Further, in this embodiment, the vehicle V is correctly guided to the stop position (target position {circle around (3)}) by compensating for the displacement when the vehicle V stops at the start position {circle around (1)}.
[0037]
In FIG. 7A, the broken line indicates the correct movement locus of the left back parking, and the solid line indicates the case where the start position {circle around (1)} is shifted to the right by the distance ΔL from the original P1 position to the P1 ′ position. ing. In this case, if automatic steering is performed with a constant movement trajectory, the target position (3) is also shifted forward from the original P2 position by a distance ΔL to the P2 ′ position, and the vehicle V cannot completely enter the garage. . In FIG. 7B, the broken line shows the correct movement locus of the left back parking, and the solid line shows the case where the start position (1) is shifted to the left by a distance ΔL from the original P1 position to the P1 ′ position. Show. In this case, if automatic steering is performed with a constant movement trajectory, the target position {circle around (3)} is shifted backward from the original P2 position by a distance ΔL to become the P2 ′ position, and the vehicle V comes into contact with the rear wall of the garage. End up.
[0038]
Therefore, when the vehicle V is stopped at the start position ▲ 1 ▼, object detecting means S ₈ ... driving environment detection means M2 based on output of the positional relationship between the vehicle and the object (the inlet portion in this case garage) The appropriate stop position determination means M3 determines an appropriate stop position based on the positional relationship. Specifically, as shown in FIG. 7A, when the vehicle V stops at the start position {circle around (1)} at the P1 ′ position that is shifted to the right by the distance ΔL from the original P1 position, With respect to the stop position P2 ′ based on this, the P2 position behind by a distance ΔL is set as an appropriate stop position. Further, as shown in FIG. 7B, when the vehicle V stops at the start position {circle around (1)} at the P1 ′ position that is shifted to the left by the distance ΔL from the original P1 position, the stop position P2 based on the stored movement trajectory. In contrast, the position P2 ahead by a distance ΔL is set as an appropriate stop position.
[0039]
Therefore, as shown in FIG. 7A, when the vehicle V stops at the start position {circle around (1)} at the P1 ′ position shifted to the right side by the distance ΔL from the original P1 position, the appropriate stop position determination means M3 determines. Based on the appropriate stop position, the timing at which the braking control means M4 issues a command to the operation stage teaching device 11 as the braking support means to teach the driver to step on the brake pedal 9 is delayed by an amount corresponding to the distance ΔL. The distance L can be calculated as a deviation between a preset distance L0 between the vehicle V and the entrance of the garage and the actual distance L detected by the object detection means S ₈ .
[0040]
Thus, as shown in FIG. 8, when this control is not performed, the vehicle V that stops at the solid line position and cannot completely enter the garage travels backward by the distance ΔL and stops correctly at the broken line position. be able to. On the contrary, when the vehicle V stops at the start position {circle around (1)} at the start position {circle around (1)} at the P1 ′ position shifted to the left by the distance ΔL from the original P1 position, the braking control means M4 applies the braking support means The timing for instructing the driver to step on the brake pedal 9 by issuing a command to the operation stage teaching apparatus 11 may be advanced by an amount corresponding to the distance ΔL. Of course, the amount by which the teaching timing is delayed or the amount by which the teaching timing is advanced varies depending on the vehicle speed v.
[0041]
FIG. 9 shows another method. That is, in the process in which the vehicle V moves backward from the turn-back position (2) to the target position (3), the traveling environment detection means M2 is based on the output of the object detection means S ₈ . The appropriate stop position determination means M3 determines an appropriate stop position based on the positional relationship. Specifically, when the vehicle V stops at the start position {circle over (1)} at the P1 ′ position shifted to the right by the distance ΔL from the original P1 position, the stop position P2 ′ (back wall based on the stored movement trajectory) P2 position (distance L0 from the back wall) rearward by a distance ΔL is an appropriate stop position. In this case, the timing at which the braking control means M4 instructs the driver to step on the brake pedal 9 by issuing a command to the operation stage teaching apparatus 11 based on the appropriate stop position and corresponds to the distance ΔL. Delay by minutes. Conversely, if the vehicle V deviates to the left by a distance ΔL from the original P1 position at the start position (1), the timing for teaching the driver to step on the brake pedal 9 can be advanced by an amount corresponding to the distance ΔL. It ’s fine.
[0042]
The distance ΔL can be calculated as a deviation between the preset distance L0 between the vehicle V and the rear wall of the garage and the actual distance L detected by the object detection means S ₈ .
[0043]
Next, a second embodiment of the present invention will be described with reference to FIG.
[0044]
In the first embodiment, the operation stage teaching device 11 teaches the driver to step on the brake pedal 9 in response to a command from the braking control means M4. However, in the second embodiment, the driver does not step on the brake pedal 9 and brakes. The automatic braking device 31 automatically generates a braking force in response to a command from the control means M4.
[0045]
FIG. 10 shows an automatic braking device 31. A master cylinder 33 is connected to the brake pedal 9 via a negative pressure booster 32, and a solenoid valve is connected to an oil passage 35 connecting the master cylinder 33 and the brake caliper 34. A shut valve 36 and a check valve 37 that allows only transmission of hydraulic pressure from the master cylinder 33 side to the brake caliper 34 side are arranged in parallel. An oil passage 35 closer to the brake caliper 34 than the shut valve 36 and a reservoir 38 of the master cylinder 33 are connected by a pair of parallel oil passages 39 and 40, and an oil pump 41 and an accumulator 42 are connected to one oil passage 39. A pressure increasing valve 43 and a throttle 44 made of a solenoid valve are arranged in series, and a pressure reducing valve 46 made of a throttle 45 and a solenoid valve is arranged in series in the other oil passage 40. The shut valve 36, the pressure increasing valve 43, and the pressure reducing valve 46 are actuated by commands from the braking control means M4.
[0046]
Thus, in a state where the shut valve 36 is opened and the pressure increasing valve 43 and the pressure reducing valve 46 are closed, the master cylinder 33 is connected via the negative pressure booster 32 according to the pedaling force input to the brake pedal 9 by the driver. The brake hydraulic pressure is generated, and the brake hydraulic pressure is transmitted to the brake caliper 34 to generate a braking force. On the other hand, if the pressure increasing valve 43 is opened and the pressure reducing valve 46 is closed while the shut valve 36 is closed, the accumulator 42 communicates with the brake caliper 34 and the brake hydraulic pressure is increased. When the pressure valve 43 is closed and the pressure reducing valve 46 is opened, the brake caliper 34 communicates with the reservoir 38 to reduce the brake hydraulic pressure. Therefore, by opening and closing the pressure increasing valve 43 and the pressure reducing valve 46, it is possible to generate a braking force on the brake caliper 34 and to arbitrarily control the magnitude of the braking force regardless of the operation of the driver.
[0047]
When the driver steps on the brake pedal 9 while the shut valve 36 is closed and the pressure increasing valve 43 and the pressure reducing valve 46 are opened and closed to perform automatic braking, the brake hydraulic pressure generated by the master cylinder 33 is automatically set. Only when the brake hydraulic pressure is larger than the brake hydraulic pressure, the brake hydraulic pressure generated by the master cylinder 33 is transmitted to the brake caliper 34 via the check valve 37.
[0048]
In the first embodiment described above, the operation stage teaching device 11 teaches the driver to step on the brake pedal 9 in response to a command from the brake control means M4. Since the automatic braking device 31 automatically generates a braking force in response to the command, not only the driver's operation load is reduced, but also the accuracy of the stop position is improved without being affected by variations in the driver's response time. The timing at which the automatic braking is executed is changed according to the vehicle speed v and the deviation of the start position (1), as in the first embodiment.
[0049]
Although the embodiments of the present invention have been described above, various design changes can be made without departing from the scope of the present invention.
[0050]
For instance, in the embodiment, but the movement locus of the vehicle V to the target position is previously stored in the storage unit 23, it is possible to calculate the movement trajectory from the current position and the target position of the vehicle V.
[0051]
【The invention's effect】
As described above, according to the first aspect of the present invention, in order to correctly stop the vehicle at the stop position in the course of the automatic steering control, the braking support means is operated when the moving distance of the vehicle reaches a predetermined distance. In this case, since the operation timing of the braking support means is changed according to the detection result of the traveling environment detecting means, that is, the positional relationship between the vehicle and the surrounding objects, regardless of the change in the traveling environment (that is, the positional relationship). The accuracy of automatic steering control can be improved by correctly stopping the vehicle at the stop position.
[0053]
According to the invention described in claim 2, to determine the proper stop position based on the detected positional relationship by the traveling environment detection means, changes the operation timing of the braking assistance unit on the basis of the proper stop position Thus, the vehicle can be correctly stopped at the appropriate stop position.
[0054]
According to the third aspect of the present invention, since the traveling environment detection means detects the vehicle speed of the vehicle, it is possible to compensate for the shift of the stop position caused by the vehicle speed.
[0055]
According to the fourth aspect of the present invention, when the vehicle speed is high, the vehicle overruns beyond the stop position can be accurately compensated by advancing the operation timing of the braking support means.
[Brief description of the drawings]
FIG. 1 is an overall configuration diagram of a vehicle equipped with a steering control device. FIG. 2 is a diagram illustrating the operation of a back parking / left mode. FIG. 3 is a diagram showing a mode selection switch and an automatic parking start switch. FIG. 5 is a diagram showing the relationship between the vehicle speed v and the movement distance X _1. FIG. 6 is a diagram showing the relationship between the vehicle speed v and the teaching timing. FIG. FIG. 8 is a diagram for explaining the influence on 3). FIG. 8 is a diagram for explaining the first method for correcting the deviation of the start position (1). FIG. 9 is a diagram for explaining the second method for correcting the deviation of the start position (1). FIG. 10 is a diagram showing the structure of an automatic braking device according to a second embodiment of the present invention.
7 Steering actuator 11 Operation stage teaching device (braking support means)
22 Control unit (actuator control means)
23 storage unit (movement trajectory setting means)
31 Automatic braking device (braking support means)
M1 Travel distance detection means M2 Travel environment detection means M3 Appropriate stop position determination means M4 Braking control means V Vehicle v Vehicle speed Wf Front wheel (wheel)
X travel distance

Claims (4)

A movement locus setting means (23) for storing or calculating a movement locus of the vehicle (V) to the target position;
A steering actuator (7) for steering the wheel (Wf);
Actuator control means (22) for controlling the driving of the steering actuator (7) based on the movement locus set by the movement locus setting means (23) while the vehicle (V) moves to the target position;
In an automatic steering device for a vehicle equipped with
A moving distance detecting means (M1) for detecting a moving distance (X) of the vehicle (V);
Traveling environment detection means (M2) for detecting the positional relationship between the vehicle (V) and surrounding objects as the traveling environment of the vehicle (V);
Braking control means (M4) for operating the braking support means (11, 31) of the vehicle (V);
With
When the movement distance (X) detected by the movement distance detection means (M1) reaches a predetermined distance, the braking control means (M4) activates the braking assistance means (11, 31) and the braking assistance means. An automatic steering apparatus for a vehicle, wherein the operation timing of (11, 31) is changed according to a detection result of the traveling environment detection means (M2) . Be provided with a proper stop position determining means (M3) for determining the proper stop position based on the detected positional relationship by the traveling environment detection means (M2), said braking control means (M4) is the proper stop position determination and changes the operation timing of the braking assistance unit (11, 31) on the basis of the appropriate stop position determined by means (M3), an automatic steering apparatus for a vehicle according to claim 1. 2. The automatic steering device for a vehicle according to claim 1, wherein the traveling environment detection unit (M2) detects the positional relationship and detects a vehicle speed (v) of the vehicle (V). 3. It said braking control means (M4) is characterized by advancing the operation timing of the vehicle speed detected by the traveling environment detection means (M2) (v) the higher braking assistance unit (11, 31), in claim 3 The vehicle automatic steering apparatus as described.

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