| 摘要 |
PROBLEM TO BE SOLVED: To carry out steering angle feedback control by modeling either the actual steering angle neutral value or the neutral value of the detected steering angle into one of variables indicating the vehicle state, and incorporating the resultant model into state estimation means such that the displacement from the steering angle neutral value is detected with high accuracy. SOLUTION: A Kalman filter as a state estimation device is incorporated into the digital system such as a micro computer within an automatic steering control unit 13. The Kalman filter estimates the amount of the displacement of the steering angle neutral value in accordance with a predetermined model so as to perform the respective feedback controls. This filter eliminates various linked responses such that a single feedback control can be performed easily and accurately, and corrects the model in accordance with the output error between the estimated state amount and the detected state amount. As a result, the control unit 13 is capable of detecting the displacement of the steering angle neutral value with high accuracy, thus performing feedback control of the steering angle. |
