| 摘要 |
<p>PROBLEM TO BE SOLVED: To provide a driving state determination device in which instability degree of driving operation can be determined, regardless of a traveling scene.SOLUTION: A deviation after removing dependent components is determined by removing vehicle state quantity components which depend on unit change quantity from a deviation between a detected vehicle state quantity and an estimated vehicle state quantity and instability degree in driving operation is determined by accumulating plural deviations after removing dependent components. By correcting a steering error through using a correction term w which becomes a small weight when a steering angle speedθ' is high and becomes a large weight when the steering angle speedθ' is low, the steering error can be made close to the steering error during no-load, regardless of the steering angle speedθ'. Namely, the component dependent on the steering angle speedθ' can be removed from the steering error. By means of this, a steering angle entropy value can be calculated, regardless of a traveling scene.</p> |
