| 摘要 |
<p>PROBLEM TO BE SOLVED: To measure an attack angle between a trajectory and wheels on a vehicle inexpensively and safely, and without being influenced by a traveling environment, during traveling.SOLUTION: A yaw rate gyroscope 7 is attached to, for example, a shaft box 6, and on the other hand, a storage part 1 and a calculation part 8 are arranged at a vehicle body 2. The storage part 1 stores, in advance, correlation data between a traveling position L of a vehicle 3 and an azimuth angle of a tangent of a trajectory 4 at the traveling position L which have been calculated from, for example, a roadway map in advance. In the calculation part 8, an attack angle between wheels 5a and the trajectory 4 at each traveling position L is acquired from difference between an azimuth angle of the wheel which is obtained by integrating a wheel shaft yaw angle speed which is measured by the yaw rate gyroscope 7 and the azimuth angle of the tangent of the trajectory 4 which has been stored in advance. As an effect, the measurement of the attack angle can be inexpensively and safely performed without being influenced by a traveling environment.</p> |
