| 摘要 |
PURPOSE:To facilitate absolute steering angle computation by adding, substracting and correcting steering angle neutral value of a front wheel from steering angle sensor detection value and left and right wheel speed sensor detection value by a constant small unit for each specified time and computing a front wheel steering angle from its result and the steering angle sensor detection value. CONSTITUTION:A control unit 7 finds a car speed in accordance with detection wheel speed of front, rear, left and right wheel speed sensors 2-5. Meanwhile, the control unit 7 takes in a detection signal of a steering angle sensor 1 and detection signals of the front, rear, left and right wheel sensors 2-5 and judges whether a steering angle neutral estimated value correctable condition is satisfied or not, and when it is satisfied, it computes a front wheel steering angle from output of rear wheel left and right wheel speed sensors 4, 5, computed car speed and others and temporarily estimates steering angle neutral value from the front wheel steering angle and the detection signal of the steering angle sensor 1. Difference between this value and the previous estimated value is found, absolute value of the difference is compared with a fail judgement amount, and from its result, new steering angle neutral estimated value is added, substracted and by a specified small amount each. |
