ESTIMATED STEERING ANGLE CALCULATION DEVICE FOR VEHICLE

摘要

There is provided an estimated steering angle calculation device for a vehicle capable of suppressing deterioration in accuracy of an estimated steering angle even if vehicle wheels slips or is locked due to acceleration or deceleration of the vehicle. Although, when being accelerated during turning, tire gripping force of front wheels serving as a driving wheel increases and a difference between wheel speeds of the front wheels decreases so that an estimated steering angle θes relative to an actual steering angle θact tends to decrease, the deterioration in accuracy of the estimated steering angle θes due to this tendency can be suppressed by increasing a second contribution rate relative to the estimated steering angle θes on the rear wheel side and decreasing a first contribution rate on the front wheel side in accordance with an accelerator opening degree.

主权项

1. An estimated steering angle calculation device for a vehicle comprising:
a front wheel speed difference calculating controller for detecting each of wheel speeds of left and right front wheels of the vehicle and calculating a front wheel speed difference between the left and right front wheels; a rear wheel speed difference calculating controller for detecting each of wheel speeds of left and right rear wheels of the vehicle and calculating a rear wheel speed difference between the left and right rear wheels; a first estimated steering angle calculating controller for calculating a first estimated steering angle using the front wheel speed difference; a second estimated steering angle calculating controller for calculating a second estimated steering angle using the rear wheel speed difference; an accelerator opening degree sensor for detecting an accelerator opening degree of the vehicle; and an estimated steering angle calculation controller for calculating an estimated steering angle of the vehicle; wherein the estimated steering angle calculation controller: calculates a first contributory portion estimated steering angle which is a contributory portion of the first estimated steering angle to the estimated steering angle of the vehicle, using the accelerator opening degree, calculates a second contributory portion estimated steering angle which is a contributory portion of the second estimated steering angle to the estimated steering angle of the vehicle, using the accelerator opening degree, and calculates the estimated steering angle of the vehicle by combining the first contributory portion estimated steering angle and the second contributory portion estimated steering angle.