Patent ID: 9043090
Filing Date: 2015-05-26
Classification: B62D

Abstract:
1. An automatic steering apparatus comprising: a motor that steers a steered wheel; a steering angle detecting portion that generates a signal that corresponds to a steering angle of the steered wheel; and a controlling apparatus comprising an angular acceleration limiter that corrects an uncorrected target steering angle to be a corrected target steering angle such that angular acceleration of the target steering angle is less than or equal to a limiting value, the controlling apparatus controlling the motor such that the steering angle tracks the corrected target steering angle based on information from the steering angle detecting portion, wherein: the angular acceleration limiter calculates a target steering angular speed based on a difference between the uncorrected target steering angle and the corrected target angle, calculates a target steering angular acceleration based on a difference between the target steering angular speed and a previous value of the target steering angular speed, calculates a corrected target steering angular speed by integrating a corrected target steering angular acceleration that is determined so as to limit the target steering angular acceleration with a predetermined limiting value, and calculates the corrected target steering angle by integrating the corrected target steering angular speed.