Automatic steering device for vehicle
A first correction coefficient and a second correction coefficient are map-searched based on a steering force applied by a driver to a steering wheel. A steering actuator is controlled based on an actuator driving electric current obtained by adding the product of an automatic steering control electric current and a first correction coefficient to the product of a power steering control electric current and a second correction coefficient. With an increase of the steering force, the first correction coefficient decreases and the second correction coefficient increases, so that a proportion of power steering control increases with respect to a proportion of automatic steering control.
1. An automatic steering device for a vehicle, comprising:
a steering actuator for turning a wheel of a vehicle;
moving locus setter for storing or calculating a moving locus of the vehicle to a target position; and
steering actuator controller for calculating a first driving command value based on the moving locus, and calculating a second driving command value based on a steering force applied by a driver to a steering wheel,
wherein the steering actuator controller drives the steering actuator using a control amount computed using the first driving command value and the second driving command value in a predetermined ratio, and sets the predetermined ratio corresponding to the steering force.
2. The automatic steering device for a vehicle according to claim 1 , wherein the steering actuator controller sets the predetermined ratio such that a proportion of the first driving command value decreases when the steering force increases.
3. The automatic steering device for a vehicle according to claim 2 , wherein the steering actuator controller maintains a proportion of the first driving command value when a direction of the steering force is the same as a direction of the first driving command value.
4. The automatic steering device for a vehicle according to claim 3 , wherein when termination of the automatic steering control is confirmed, the steering actuator controller sets the predetermined ratio at a time of confirmation as an initial value, decreases a proportion of the first driving command value and increases a proportion of the second driving command value according to an elapsed time from the time of confirmation.
5. The automatic steering device for a vehicle according to claim 2 , wherein when termination of the automatic steering control is confirmed, the steering actuator controller sets the predetermined ratio at a time of confirmation as an initial value, decreases a proportion of the first driving command value and increases a proportion of the second driving command value according to an elapsed time from the time of confirmation.
6. The automatic steering device for a vehicle according to claim 1 , wherein the steering actuator controller sets the predetermined ratio such that the second driving command value increases when the steering force increases.
7. The automatic steering device .for a vehicle according to claim 6 , wherein when termination of the automatic steering control is confirmed, the steering actuator controller sets the predetermined ratio at a time of confirmation as an initial value, decreases a proportion of the first driving command value and increases a proportion of the second driving command value according to an elapsed time from the time of confirmation.
8. The automatic steering device for a vehicle according to claim 1 , wherein when termination of the automatic steering control is confirmed, the steering actuator controller sets the predetermined ratio at a time of confirmation as an initial value, decreases a proportion of the first driving command value and increases a proportion of the second driving command value according to an elapsed time from the time of confirmation.