| 摘要 |
PURPOSE: To detect the backward traveling of an automobile by using only a sensor used to control the traveling movement. CONSTITUTION: A block 1 generates the yaw angle velocityωm= traveling speed VFx measuring steering angleδ/wheel distance R of a model. A block 2 calculates the present value (t) for a forward or backward traveling evaluation value from the equation, and supplies it to comparators 3, 4. The comparator 3 signals immediately when the value (t) becomes larger than a comparison value V (e.g. 0.2) for the forward travel evaluation. This signal allows a terminal 6 to generate a forward travel signal LV. The signal LV is held as long as the comparator 10 does not signal. The comparator 10 signals (stop the vehicle) when the speed FF is smaller than the stopping speed Vmin . The comparator 4 signals an AND gate when the value (t) becomes smaller than, for example, the value of -0.2. Thus, if the signal LL is not yet set, the backward travel signal LL is set. This signal is also held as long as the comparator 10 does not signal.
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