| 摘要 |
PURPOSE: To operate a turning angle of a vehicle at a low speed traveling without using a geomagnetic sensor by operating the vehicle's turning angle through both outputs of a steering angle detecting means and a pulse outputting means in the case where a wheel speed is not more than the specified value. CONSTITUTION: In a low speed running state, a wheel steering angle at that point of time is found out of an output signal of a steering angle sensor 22. This steering angle is always minitored, and a mean value of four steering angles totaled of a steering angle at a point of time operated at the last time, a steering angle this time and both maximal and minimal values of the steering angle between the last time and this time is used for operation. Next, a factor preset to a vehicle is multiplied to a variation in a vehicle turning angle to be produced in the case where the vehicle is moved at an interval ranging from the last interrupting pulse to this time interrupting pulse outputted by a sensor 21 at a low speed of the vehicle to the output of the sensor 22. In succession, travel of the vehicle is judged of whether it is forward or backward. On the basis of a detection signal of the sensor 21, whether it is less than the specified speed or not is judged, and when it is a low speed state, the turning angle found out at the last time is accumulated with a variation in the turning angle found out this time. |
