旋回半径Ｒｒと車両のホイールベースＷｂと舵角Ｓｗの関係は、以下の式（６）を満たす。
ｔａｎ（Ｓｗ）＝Ｗｂ／Ｒｒ ・・・（６）
式（５）と式（６）から下記式（７）が導かれる。
ｔａｎ（Ｓｗ）＝（Ｗｂ／ｄＺ）×ｓｉｎ（ｄＳ） ・・・（７）
式（７）は、旋回角ｄＳ、走行距離ｄＺ、舵角Ｓｗの関係を示し、旋回角ｄＳおよび走行距離ｄＺから舵角Ｓｗが算出される。舵角Ｓｗを推定舵角に置き換えることで推定舵角が算出できる。このように、旋回角ｄＳおよび走行距離ｄＺから舵角を推定でき、車両の旋回状態を推定できる。The relationship among the turning radius Rr, the vehicle wheel base Wb, and the steering angle Sw satisfies the following expression (6).
tan (Sw) = Wb / Rr (6)
The following equation (7) is derived from the equations (5) and (6).
tan (Sw) =(Wb / dZ) × sin (dS) (7)
Equation (7) shows the relationship between the turning angle dS, the travel distance dZ, and the steering angle Sw, and the steering angle Sw is calculated from the turning angle dS and the travel distance dZ. The estimated steering angle can be calculated by replacing the steering angle Sw with the estimated steering angle. Thus, the steering angle can be estimated from the turning angle dS and the travel distance dZ, and the turning state of the vehicle can be estimated.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2015052148AJP6587172B2 (en) | 2015-03-16 | 2015-03-16 | Steering control device and turning state estimation method |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2015052148AJP6587172B2 (en) | 2015-03-16 | 2015-03-16 | Steering control device and turning state estimation method |
| Publication Number | Publication Date |
|---|---|
| JP2016173634A JP2016173634A (en) | 2016-09-29 |
| JP2016173634A5true JP2016173634A5 (en) | 2018-03-01 |
| JP6587172B2 JP6587172B2 (en) | 2019-10-09 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2015052148AActiveJP6587172B2 (en) | 2015-03-16 | 2015-03-16 | Steering control device and turning state estimation method |
| Country | Link |
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| JP (1) | JP6587172B2 (en) |
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