To determine a neutral steering angle irrespective of a steering condition of a vehicle.SOLUTION: A neutral steering angle determination device 1 includes: a lateral acceleration acquisition unit 121 that acquires a lateral acceleration applied in a vehicle width direction orthogonal to an advancing direction of an own vehicle 2; a vehicle speed acquisition unit 122 that acquires a vehicle speed of the own vehicle 2; a yaw rate acquisition unit 123 that acquires a yaw rate of the vehicle; a steering angle acquisition unit 124 that acquires a steering angle of the own vehicle 2; a coefficient determination unit 125 that determines a first coefficient, second coefficient, and third coefficient which minimizes a squared sum of a difference between a function value of a model function and the steering angle acquired by the steering angle acquisition unit, the function value of the model function representing a steering angle and includes a first term expressed with a product between the first coefficient and lateral acceleration, a second term expressed with a product between a ratio of the yaw rate to the vehicle speed and the second coefficient, and a third term expressed with the third coefficient representing an offset quantity from a neutral steering angle which makes the orientation of wheels of the own vehicle 2 parallel to the advancing direction; and a neutral steering angle determination unit 126 that determines a neutral steering angle according to the third coefficient.SELECTED DRAWING: Figure 1
【課題】車両の操舵状態によらず中立舵角を決定する。【解決手段】中立舵角決定装置1は、自車両2の進行方向に直交する車幅方向にかかる横加速度を取得する横加速度取得部121と、自車両2の車速を取得する車速取得部122と、車両のヨーレートを取得するヨーレート取得部123と、自車両2の操舵角を取得する操舵角取得部124と、第1係数と横加速度との積で表される第1項と、車速に対するヨーレートの割合と第2係数との積で表される第2項と、自車両2の車輪の向きが進行方向と平行になる中立舵角からのオフセット量を示す第3係数のみで表される第3項とを含み操舵角を表すモデル関数の関数値と、操舵角取得部が取得した操舵角との差の二乗和を最小化する第1係数、第2係数及び第3係数を決定する係数決定部125と、第3係数に応じて中立舵角を決定する中立舵角決定部126と、を有する。【選択図】図1
NEUTRAL STEERING ANGLE DETERMINATION DEVICE, NEUTRAL STEERING ANGLE DETERMINATION METHOD, AND PROGRAM
中立舵角決定装置、中立舵角決定方法及びプログラム
2024-06-07
Patent
Electronic Resource
Japanese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Steering wheel neutral position angle calibration method
European Patent Office | 2023
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