| 摘要 |
<p>PROBLEM TO BE SOLVED: To enable fault detection of slight detection deviation, by storing the absolute value of difference between a steering angle which a steering angle sensor detected and a steering angle which had been detected, in a storing means, and judging whether the mean and the dispersion of a specified number of differences extracted from the storing means are in specified ranges. SOLUTION: Steering mechanism 1 pushes and pulls a knuckle arm 12 via a tie rod 13, and handles wheels 10 right and left. A current flowing in a steering motor 5 is detected by a current sensor 8a, and applied to a steering control part 4. The output of a steering angle sensor 16 is applied to the steering control part 4, together with the output of a rotary encoder 15. The steering control part 4 performs steering control operation which drives the steering motor 5, until an aimed steering angle is obtained, in the following manner. On the basis of the input from the rotary encoder 15, the steering angle of a steering wheel 2 is recognized. The actual steering angle and the steering angle deviation which are recognized by the input from the steering angle sensor 16 are obtained. The steering angle deviation is corrected in response to the change of car velocity.</p> |
