PROBLEM TO BE SOLVED: To provide a vehicular estimated-steering angle calculation apparatus capable of suppressing deterioration in accuracy of estimated steering angle even if a wheel is slipped or locked due to acceleration or deceleration of a vehicle.SOLUTION: If a vehicle is accelerated while turning, tire-grip force of front wheels WFL, WFR being drive wheels increases, decreasing a wheel speed difference ωfl-ωfr of the front wheels WFL, WFR, resulting in a tendency of an estimated steering angle θes relative to an actual steering angle θact. However, increasing a second contribution ratio R2 on a rear wheel side relative to the estimated steering angle θes in accordance with an accelerator opening degree Ap (a characteristic 206) and decreasing a first contribution ratio R1 on a front wheel side (a characteristic 204) makes it possible to suppress deterioration in accuracy of the estimated steering angle θes due to the aforementioned tendency.SELECTED DRAWING: Figure 6
【課題】車両の加速や減速により車輪がスリップしあるいはロックしても、推定舵角の精度の低下を抑制可能な車両用の推定舵角算出装置を提供する。【解決手段】旋回中に加速をすると駆動輪である前輪WFL、WFRのタイヤグリップ力が大きくなって前輪WFL、WFRの車輪速差ωfl−ωfrが小さくなり、実舵角θactに対する推定舵角θesが小さくなる傾向があるが、アクセル開度Apに応じて推定舵角θesに対する後輪側の第2寄与率R2を増加し(特性206)前輪側の第1寄与率R1を小さくする(特性204)ことで、前記傾向による推定舵角θesの精度の低下を抑制できる。【選択図】図6
VEHICULAR ESTIMATED-STEERING ANGLE CALCULATION APPARATUS
車両用の推定舵角算出装置
2017-04-06
Patent
Electronic Resource
Japanese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |