| 摘要 |
<p>PROBLEM TO BE SOLVED: To accurately detect a rotating center position for absolute steering angle detection dispensing with an origin slit or a photointerrupter only by an output from a relative steering angle sensor. SOLUTION: A travel distance is calculated for every steering angle while storing relative steering angle values by the relative steering angle sensor at steps 201-209. When the travel state is normal, a steering angle position with the maximum travel distance among data within a sampling period of 100 ms is made a neutral point, set as the rotating center position, used for the absolute angle detection and stored. When the travel state is in congestion running, the neutral point averaged from the relative steering angle values at the maximum speed traveling in three cycles of stop→travel→stop at steps 212- is set as the rotating center position. When the travel state is in spiral road running, the previous rotating center position is used at a step 220 for eliminating a fear of false setting.</p> |
