| 摘要 |
PURPOSE:To obtain a correct steering angle within a predetermined time by setting the amount of correction of a steering angle every set time in such a manner that the amount is increased or decreased according to whether a corrected steering angle signal value indicates steering to right or left side, and subtracting the amount of correction of the steering angle from the output signal value of a steering angle sensor so as to obtain a new corrected steering angle signal. CONSTITUTION:When the velocity V of a vehicle is raised beyond Vc, a corrected steering angle signal TH just before the fourth step is judged as TH>0 since a corrected steering angle signal TH just before the eighth step was about 9 deg. at the previous program execution, and then the seventh step is initiated and the amount iTH by which the steering angle is corrected is iTM = alpha. This alpha is the resolution of an absolute type steering angle sensor 4 (1 bit = 1.17 deg.). The corrected steering angle signal TH just before the eighth step is therefore TH = THH-iTH = 208H-001H = 207H (about 8 deg.). This work is repeated every sampling time t (about 4min.) shown at the fourth step whereby the corrected steering angle signal i.e., TH = 0 is obtained within almost 30 minutes. |
