PROBLEM TO BE SOLVED: To accurately set a neutral point of a steering angle by learning which takes into consideration an error of a yaw rate sensor.SOLUTION: When either of a first condition that an absolute value of a difference ΔYda(=Yd-Ya) between a detection yaw rate Yd detected by a yaw rate sensor 2 and a front-wheel yaw rate Ya detected by front-wheel yaw rate calculation means 9 reaches a value or smaller which is obtained by subtracting a yaw rate sensor error δY from a preset threshold Yt, or a second condition that an absolute value of a difference ΔYdb(=Yd-Yb) between a detection yaw rate Yd detected by the yaw rate sensor 2 and a rear-wheel yaw rate Yb detected by rear-wheel yaw rate calculation means 10 reaches a value or smaller which is obtained by subtracting the yaw rate sensor error δY from the preset threshold Yt is established, it is determined that a learning condition is established, and holding means 5 is held with a deviation Δθ derived by a subtracter 4 as a neutral point of a steering angle.SELECTED DRAWING: Figure 1

    【課題】ヨーレートセンサの誤差を考慮した学習により、高精度に舵角の中点を設定することができるようにする。【解決手段】ヨーレートセンサ2による検出ヨーレートYdと前輪ヨーレート算出手段9による前輪ヨーレートYaとの差ΔYda(=Yd−Ya)の絶対値が、予め設定された閾値Ytからヨーレートセンサ誤差δYを引いた値以下となる第1条件と、ヨーレートセンサ2による検出ヨーレートYdと後輪ヨーレート算出手段10による後輪ヨーレートYbとの差ΔYdb(=Yd−Yb)の絶対値が、予め設定された閾値Ytからヨーレートセンサ誤差δYを引いた値以下となる第2条件とのいずれかが成立したときに学習条件の成立と判定され、減算器4により導出される偏差Δθを舵角の中点として保持手段5に保持するようにする。【選択図】図1


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    Titel :

    VEHICLE CONTROL DEVICE


    Weitere Titelangaben:

    車両制御装置


    Beteiligte:
    NISHIMURA JUNICHI (Autor:in) / SHIMOMURA WATARU (Autor:in) / OZAWA KOJI (Autor:in)

    Erscheinungsdatum :

    2017-11-02


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Japanisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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