| 摘要 |
PROBLEM TO BE SOLVED: To estimate the neutral point of a yaw rate sensor accurately regardless of error of other sensor. SOLUTION: A decision is made that steering is performed [condition (1) and (4)] when a steering angle θf and the derivative γ' of output γ from a yaw rate sensor exceed predetermined values A and B, respectively. A decision is made that steering has ended when the absolute value of γ drops eventually below a predetermined value C [condition (2)]. A decision is further made that a vehicle is advancing straight when γ' is converged [condition (3)] and the neutral point of the yaw rate sensor is estimated based on the value of γ when such a decision is made. |
