PROBLEM TO BE SOLVED: To accurately estimate an actual front-wheel steering angle in response to driver's steering input and to accurately perform an estimation of another vehicle parameter, a prediction of vehicle behavior and vehicle control using the estimated front-wheel steering angle.SOLUTION: A vehicle steering parameter estimation device: estimates deformation amounts (Δθs and Δθr) of a steering system generated by driver torque Tp_drv and motor torque Tp_mtr on the basis of rigidity (Ks and Kl) preliminarily set for the steering system from a steering wheel 4 to front wheels 11L and 11R; and estimates an actual front-wheel steering angle δf in accordance with at least a handle angle θH and the deformation amount of the steering system (Δθs and Δθr).SELECTED DRAWING: Figure 2
【課題】ドライバによる操舵入力に対する実際の前輪舵角を精度良く推定し、該前輪舵角を用いた車両の他のパラメータの推定や車両挙動の予測や車両制御を精度良く行う。【解決手段】ドライバトルクTp_drvとモータトルクTp_mtrとにより発生する操舵系の変形量(Δθs、Δθr)を、ステアリングホイール4から前輪11L,11Rまでの予め設定しておいた操舵系の剛性(Ks、Kl)に基づいて推定し、少なくともハンドル角θHと操舵系の変形量(Δθs、Δθr)とに応じて実際の前輪舵角δfを推定して出力する。【選択図】図2
VEHICLE STEERING PARAMETER ESTIMATION DEVICE
車両の操舵パラメータ推定装置
2017-05-25
Patent
Electronic Resource
Japanese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
STEERING ANGLE ESTIMATION DEVICE, STEERING DEVICE AND STEERING ANGLE ESTIMATION METHOD
European Patent Office | 2021
|Vehicle steering parameter determination method and device, vehicle and storage medium
European Patent Office | 2020
|Vehicle steering nonlinearity estimation method and device
European Patent Office | 2023
|Vehicle parameter influence on steering control characteristics
Automotive engineering | 1983
|Vehicle Parameter Influence on Steering Control Characteristics
Automotive engineering | 1982
|