To estimate a zero point error of a steering angle with good accuracy.SOLUTION: A calculation unit 14 compares a yaw rate value calculated on the basis of a roll angle and a pitch angle of a vehicle calculated from an angular speed detected by an IMU 26, a steering angle detected by a steering angle sensor 28, and a longitudinal speed of the vehicle detected by a vehicle speed sensor 24 with a yaw rate value detected by the IMU 26 according to behavior of the vehicle, and estimates a zero point error of the steering angle detected by the steering angle sensor 28.SELECTED DRAWING: Figure 1
【課題】操舵角のゼロ点誤差を精度よく推定する。【解決手段】演算装置14は、IMU26が検出した角速度から算出した車両のロール角及びピッチ角、操舵角センサ28が検出した操舵角、並びに車速センサ24が検出した車両の前後速度に基づいて算出したヨーレート値と、IMU26が検出したヨーレート値とを車両の挙動に応じて比較して操舵角センサ28で検出する操舵角のゼロ点誤差を推定する。【選択図】図1
SENSOR ERROR CORRECTION DEVICE
センサ誤差補正装置
2021-09-24
Patent
Electronic Resource
Japanese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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