Automatic steering device for vehicles

An automatic steering device for a vehicle comprising:

• an actuator for steering wheels of the vehicle;
• a movement distance detecting means for detecting a distance of movement of the vehicle;
• an actual vehicle speed detecting means coupled to the movement distance detecting means for detecting an actual vehicle speed of the vehicle based upon an output of the movement distance detecting means;
• a movement locus setting means for calculating a locus of movement of the vehicle to a target position as a relationship between a steering angle and the distance of movement of the vehicle;
• an actuator control means coupled to the movement locus setting means, for controlling a driving of the actuator based upon the locus of movement set by the movement locus setting means and upon the distance of movement of the vehicle;
• an operating condition detecting means for detecting an operating condition of the vehicle;
• a vehicle speed estimating means for estimating the vehicle speed based upon the operating condition of the vehicle detected by the operating condition detecting means;
• a judging means for judging an output of the movement distance detecting means to be abnormal based upon a deviation between the actual vehicle speed detected by the actual vehicle speed detecting means and the estimated vehicle speed estimated by the vehicle speed estimating means;
• and
• a discontinuing means coupled to the actuator control means for discontinuing an operation for controlling the actuator by the actuator control means when the judging means judges the output to be abnormal.