| 主权项 |
1. A system for determining an angular position of a steerable wheel of a vehicle having a plurality of wheels comprising:
a relative position steering angle sensor configured to output data indicative of a change in position of the steerable wheel; a yaw rate sensor configured to output data indicative of an angular velocity of the vehicle about a vertical axis of the vehicle; a lateral acceleration sensor configured to output data indicative of an acceleration of the vehicle in a substantially transverse direction of the vehicle; a plurality of wheel speed sensors, wherein each wheel speed sensor is configured to output data indicative of a rotational velocity of a respective one of the plurality of wheels; and a controller in electrical communication with each of the plurality of wheel speed sensors, the lateral acceleration sensor, and the yaw rate sensor, and the controller is configured to
determine a minimum wheel speed by comparing the data from each of the plurality of wheel speed sensors,compare a first data set and a second data set to respective straight path conditions, wherein the first data set includes data from the yaw rate sensor, data from the lateral acceleration sensor, and the minimum wheel speed, and the second data set includes data from the plurality of wheel speed sensors,determine a substantially straight path of travel condition when the comparison of at least one of the first data set and the second data set satisfies the respective straight path conditions, andassociate data acquired from the steering angle sensor with a neutral position when the controller determines the substantially straight path of travel condition. |
