| 摘要 |
PROBLEM TO BE SOLVED: To estimate the lateral acceleration with sufficient precision from the steering torque by taking a hysteresis of the steering torque into consideration.SOLUTION: The data recording part 104 records the lateral acceleration and the steering torque which are detected, respectively, by a lateral acceleration sensor 42 and a steering torque sensor, while making them correspond to each other, when the lateral acceleration sensor 42 is normal. The proportionality coefficient calculation part 105 computes the proportionality coefficient of lateral acceleration and steering torque from the data recorded in the data recording part 104. The map maintenance part 106 memorizes the proportionality coefficient in a map depending on whether a steering wheel is in cutting-in time or in cutting-back time. The lateral acceleration calculation part 110 obtains the proportionality coefficient by referring the map either in cutting-in time or in cutting-back time in the map maintenance part 106 and computes the lateral acceleration by dividing the steering torque with the proportionality coefficient when a lateral acceleration sensor 42 is decided to be failure. |
