| 摘要 |
PROBLEM TO BE SOLVED: To determine the steering angle with high accuracy by operating a steering angle of a vehicle by using the corrected wheel speed difference and the wheel speed difference obtained by subtracting the product of the wheel speed ratio and the average wheel speed from the wheel speed difference. SOLUTION: The left and right wheel speeds detected by a left wheel speed measuring means 1 and a right wheel speed measuring means 2 are input to a wheel speed difference arithmetic means 3. Then the wheel speed difference arithmetic means 3 operates the wheel speed difference between the left and right wheels. Further an average wheel speed arithmetic means 4 operates the average of the wheel speeds. These values are input to a wheel speed ratio arithmetic means 5 to operate the wheel speed ratio. The operated wheel speed ratio is input to a corrected wheel speed difference arithmetic means 6 with the average wheel speed. Then the corrected wheel speed difference is determined by subtracting the product of the wheel speed ratio and the average wheel speed from the wheel speed difference. An steering angle is operated by a steering angle arithmetic means 7 on the basis of the wheel speed ratio and the corrected wheel speed difference. |
