To provide a steering angle midpoint estimation device that quickly estimates a steering angle midpoint.SOLUTION: A steering angle midpoint estimation device is provided for estimating a steering angle midpoint in a steering device 1 having an actuator 71 for changing a steering angle of a steering wheel of a vehicle. The steering angle midpoint estimation device is configured to have a Bayes estimation calculation unit 82 for, concerning the parameter θ, Ts about the state of the steering device and the parameter Yr about the motion state of the vehicle, acquiring a current value of each of them, and assuming each appearance probability with a straight path and s curved path as the prior probability, and also performing the Bayes estimation by using the probability where the parameter can take the current value as the follow-up probability in each of the straight path and the curved path, and thereby determining whether the current steering angle is the steering angle midpoint on the basis of the probability of a linear motion state obtained by the Bayes estimation using the parameter about the state of the steering device and the probability of the linear motion state obtained by the Bayes estimation using the parameter about the motion state of the vehicle.SELECTED DRAWING: Figure 2

    【課題】操舵角中点を迅速に推定する操舵角中点推定装置等を提供する。【解決手段】車両の操向輪の操舵角を変化させるアクチュエータ71を有するステアリング装置1における操舵角中点を推定する操舵角中点推定装置を、ステアリング装置の状態に関するパラメータθ,Tsと、車両の運動状態に関するパラメータYrとに関して、それぞれ現在値を取得するとともに、直進路と曲線路とのそれぞれの出現確率を事前確率とし、直進路及び曲線路のそれぞれにおいてパラメータが現在値をとり得る確率を事後確率とするベイズ推定を行い、ステアリング装置の状態に関するパラメータを用いたベイズ推定によって得た直進状態の確率と、車両の運動状態に関するパラメータを用いたベイズ推定によって得た直進状態との確率とに基づいて、現在の操舵角が操舵角中点であるか否かを判別するベイズ推定演算部82を有する構成とする。【選択図】図2


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    Title :

    STEERING ANGLE MIDPOINT ESTIMATION DEVICE AND STEERING DEVICE


    Additional title:

    操舵角中点推定装置、及び、ステアリング装置


    Contributors:

    Publication date :

    2021-02-15


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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