JPH0613301B2 - Vehicle steering angle detector - Google Patents
Vehicle steering angle detectorInfo
- Publication number
- JPH0613301B2 JPH0613301B2 JP58122541A JP12254183A JPH0613301B2 JP H0613301 B2 JPH0613301 B2 JP H0613301B2 JP 58122541 A JP58122541 A JP 58122541A JP 12254183 A JP12254183 A JP 12254183A JP H0613301 B2 JPH0613301 B2 JP H0613301B2
- Authority
- JP
- Japan
- Prior art keywords
- vehicle
- steering angle
- speed
- steering
- neutral
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
Description
【発明の詳細な説明】 産業上の利用分野 本発明は、車両の操舵角検出装置、特に車両の操舵角を
推定中立値を用いて検出する車両の操舵角検出装置の改
良に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle steering angle detection device, and more particularly to an improvement of a vehicle steering angle detection device that detects a vehicle steering angle using an estimated neutral value.
技術背景 近年、車両ステアリングの操舵角を検出し、この検出信
号に基づき各種の制御、例えば車両のロール状態を推定
し、アブソーバの減衰力を変える制御、あるいはステア
リングの所定の戻し角検出に基づきウインカを消灯する
等の制御が行われている。Technical background In recent years, the steering angle of a vehicle steering wheel is detected, and various controls are performed based on the detected signal, for example, the roll state of the vehicle is estimated, the damping force of the absorber is changed, or a predetermined turn angle of the steering wheel is detected. Controls such as turning off the lights are being performed.
従つて、操舵角に基づいて各種の制御を正確に行うため
には、ステアリングの中立位置を正しく推定することが
必要であり、この要求を満足する車両の操舵角検出装置
が望まれている。Therefore, in order to accurately perform various controls based on the steering angle, it is necessary to correctly estimate the neutral position of the steering wheel, and a vehicle steering angle detection device that satisfies this requirement is desired.
その場合において、ステアリング操舵角の検出基準位置
を機械的に定めることは、ステアリングの各部品組付け
の通合上、位置合わせが困難であつた。In that case, it was difficult to mechanically determine the reference position for detecting the steering angle of the steering wheel because of the difficulty in assembling the steering parts.
従来技術 従来の車両の操舵角検出装置は、ステアリングの舵取操
舵角を検出する操舵角センサを有しており、その操舵角
センサにより、ステアリングが所定走行距離の間ほぼ一
定位置を維持している状態が検出された場合に、この位
置が推定中立位置として定められていた。2. Description of the Related Art A conventional vehicle steering angle detection device has a steering angle sensor that detects a steering angle of a steering wheel, and the steering angle sensor keeps the steering wheel at a substantially constant position for a predetermined traveling distance. This position was defined as the estimated neutral position when the presence state was detected.
そしてこの推定中立位置は一定走行距離間隔ごとに求め
れ、その都度、前の推定中立位置は修正されていた。Then, the estimated neutral position is obtained at constant traveling distance intervals, and the previous estimated neutral position is corrected each time.
従つて、従来装置においては、車両が長いコーナを走行
する場合には、このコーナに対応したステアリングの旋
回操舵角がその中立値として推定される結果、推定中立
位置を正しく設定できず、このため操舵角に基づく正確
な制御作用を行うことができないという欠点があつた。
また、特開昭５２−８１８３０号公報に開示されるよう
に、左右の車輪の回転速度差から舵角を推定する技術も
知られているが、低速時においては、車輪速度が小さい
ことから正確な舵角推定が出来ず、この推定値で中立位
置補正を行つても正確な補正が行えないという問題があ
つた。Therefore, in the conventional device, when the vehicle travels in a long corner, the turning steering angle of the steering corresponding to this corner is estimated as its neutral value, and as a result, the estimated neutral position cannot be set correctly, However, there is a drawback that an accurate control action based on the steering angle cannot be performed.
Further, as disclosed in Japanese Patent Laid-Open No. 52-81830, there is also known a technique for estimating the steering angle from the rotational speed difference between the left and right wheels, but it is accurate because the wheel speed is low at low speed. However, there is a problem in that accurate rudder angle cannot be estimated, and even if neutral position correction is performed using this estimated value, accurate correction cannot be performed.
発明の目的 本発明は、前述した従来の課題に鑑み為されたものであ
り、その目的は、車両の直進走行状態を正確に判定で
き、正しい中立位置を推定できる車両の操舵角検出装置
を提供することにある。SUMMARY OF THE INVENTION The present invention has been made in view of the above-described conventional problems, and an object thereof is to provide a vehicle steering angle detection device capable of accurately determining a straight traveling state of a vehicle and estimating a correct neutral position. To do.
発明の構成 上記目的を達成するために、本発明は、ステアリングの
推定中立値に対する相対的に操舵角を検出する操舵角セ
ンサと、前記操舵角センサからの検出信号に基づき前記
推定中立値を補正する中立補正手段とを含み、前記推定
中立値の補正作用によつて正しい車両操舵角を求める車
両の操舵角検出装置において、車両の左車輪の速度を検
出する左車輪速度検出手段と、右車輪の速度を検出する
右車輪速度検出手段と、両出力値の差分を演算する左右
輪速度差演算手段と、前記左右輪速度差演算手段にて演
算された差分に基づき車両の直進走行状態を検出する走
行状態検出手段とを有し、車速が所定値以上であり、か
つ、演算された左右輪速度差が所定値以下のときに前記
走行状態検出手段は車両がほぼ直進走行状態と判定して
前記操舵角センサからの検出信号に基づき前記中立補正
手段が前記推定中立値を補正することを特徴とする。In order to achieve the above object, the present invention corrects the estimated neutral value based on a steering angle sensor that detects a steering angle relative to an estimated neutral value of steering, and a detection signal from the steering angle sensor. In a steering angle detection device for a vehicle, which includes a neutral correction means for determining a correct vehicle steering angle by a correction operation of the estimated neutral value, a left wheel speed detection means for detecting a speed of a left wheel of the vehicle, and a right wheel Right wheel speed detecting means for detecting the speed of the vehicle, left and right wheel speed difference calculating means for calculating the difference between the two output values, and straight running state of the vehicle is detected based on the difference calculated by the left and right wheel speed difference calculating means. When the vehicle speed is equal to or higher than a predetermined value and the calculated left / right wheel speed difference is equal to or lower than a predetermined value, the running state detection means determines that the vehicle is in a substantially straight running state. The operation It is characterized in that the neutral correction means corrects the estimated neutral value based on a detection signal from the steering angle sensor.
このように、本発明では、車速が所定値以上のときであ
り、しかも、左右輪速度差が所定値以下の場合に、車両
の転舵状態、すなわち、直進走行しているか否かを判定
し、操舵角センサからの検出信号に基づき推定中立値を
補正する。車速が所定値以下の低走行状態においては、
操舵が行われても左右輪の回転差が小さいため、この左
右輪速度差に基づいて転舵状態を正確に判定することが
困難となる。そこで、本発明では、車速が所定値以上で
あり、かつ、演算された左右輪速度差が所定値以下のと
きに補正して正しい中立位置を推定するのである。As described above, in the present invention, when the vehicle speed is equal to or higher than the predetermined value, and when the difference between the left and right wheel speeds is equal to or lower than the predetermined value, the steering state of the vehicle, that is, it is determined whether the vehicle is traveling straight ahead. , The estimated neutral value is corrected based on the detection signal from the steering angle sensor. When the vehicle speed is lower than a predetermined value,
Since the difference in rotation between the left and right wheels is small even when steering is performed, it is difficult to accurately determine the steered state based on the difference in speed between the left and right wheels. Therefore, in the present invention, when the vehicle speed is equal to or higher than the predetermined value and the calculated left / right wheel speed difference is equal to or lower than the predetermined value, the correct neutral position is estimated.
実施例 第１図には、本発明に係る車両の操舵角検出装置の概略
構成が示され、また第２図には本発明装置のフローチヤ
ートが示されている。Embodiment FIG. 1 shows a schematic structure of a vehicle steering angle detecting device according to the present invention, and FIG. 2 shows a flow chart of the present invention device.
本実施例装置においては、第１図に示すように、車両の
操舵角を検出する操舵角センサ１０と、車両の左車輪の
速度を検出する左車輪速度センサ12と、車両の右車輪の
速度を検出する右車両速度セサ１４とを有しており、こ
れら各センサ１０、１２、１４からの出力信号は制御回
路１６に導びかれ、この制御回路１６によりステアリン
グ中立位置の修正作用が行われる。In this embodiment, as shown in FIG. 1, the steering angle sensor 10 for detecting the steering angle of the vehicle, the left wheel speed sensor 12 for detecting the speed of the left wheel of the vehicle, and the speed of the right wheel of the vehicle. And a right vehicle speed sensor 14 for detecting the vehicle speed. The output signals from the respective sensors 10, 12, 14 are guided to a control circuit 16 which corrects the steering neutral position. .
すなわち、制御回路１６には左車輪速度センサ１２から
の出力信号と右車輪速度センサ１４からの出力信号に基
づき、両車輪の平均速度、例えば左車輪の速度をＶLH、
右車輪の速度をＶRHとするとその平均速度ＶＭ＝1/2
（ＶLN＋ＶRH）を求める演算回路が設けられており、こ
の回路により演算された平均速度ＶＭが基準速度Ｖmin
を超えた時にステアリングの中立位置の修正作用を開始
する。That is, based on the output signal from the left wheel speed sensor 12 and the output signal from the right wheel speed sensor 14, the control circuit 16 determines the average speed of both wheels, for example, the speed of the left wheel as V LH ,
When the speed of the right wheel is V RH , its average speed V M = 1/2
(V LN + V RH) of obtaining the arithmetic circuit is provided with the average velocity V M is the reference speed V min, which is calculated by the circuit
When it exceeds, the correction action of the steering neutral position is started.
従つて、本実施例装置においては、車両輪の平均速度Ｖ
ＭがＶminよりも小さい場合、例えば停車状態、或いは
車庫入れ等の低速走行状態時におけるステアリグ中立位
置の修正が阻止される。Therefore, in the apparatus of this embodiment, the average speed V of the vehicle wheels is
When M is smaller than V min , correction of the steering rig neutral position is prevented when the vehicle is stopped or in a low speed running state such as garage entry.
また、本実施例においては、車両が長いコーナ等を走行
している時にステアリングの中立位置の推定作用を行う
ことを防止するために、制御回路１６には、左車輪速度
と右車輪速度との差を演算する演算回路が設けられてお
り、この速度差信号値が所定値以下の時にのみステアリ
ングの中立位置が推定修正される。In the present embodiment, the control circuit 16 controls the left wheel speed and the right wheel speed to prevent the steering neutral position from being estimated when the vehicle is traveling in a long corner or the like. A calculation circuit for calculating the difference is provided, and the neutral position of the steering wheel is estimated and corrected only when the speed difference signal value is equal to or less than a predetermined value.
上記修正作用は本実施例において次のように行われる。
すなわち、初期操舵角検出値をθoo、前もつて推定され
ているステアリングの推定中立値をθ′o、車両の車両
輪の平均速度が基準速度Ｖｍｉｎを超えかつ両車輪の速
度差が所定値ΔＶ以下の時の前記推定中立値θ′oに対
する操舵角変化をΔθとすると、ステアリングの推定中
率値θoは、θo＝θ′o＋ＫΔθとして求められ、推定
中立値が修正されることとなる。The above correction action is performed as follows in this embodiment.
That is, the initial steering angle detection value is θ oo , the estimated neutral value of the steering that has been estimated in advance is θ ′ o , the average speed of the vehicle wheels of the vehicle exceeds the reference speed V min , and the speed difference between the two wheels is predetermined. Assuming that the steering angle change with respect to the estimated neutral value θ ′ o when the value is equal to or less than ΔV is Δθ, the estimated neutral ratio value θ o of the steering is obtained as θ o = θ ′ o + KΔθ, and the estimated neutral value is corrected. It will be.
ここにおいて、Ｋは係数である。Here, K is a coefficient.
このようにステアリングの中立推定値を車両両車輪の平
均速度が基準速度を超えかつ両車輪の速度差が所定値以
下の時にのみ、補正修正する結果、従来装置のごとく、
車両のコーナ旋回走行時及び低速走行時における前記ス
テアリングの中立位置の中性作用が排除され、ステアリ
ング中立推定位置が大幅な誤差を含んで設定されるとい
う欠点は確実に除去される。In this way, the neutral estimated steering value is corrected and corrected only when the average speed of both wheels of the vehicle exceeds the reference speed and the speed difference between both wheels is equal to or less than a predetermined value.
The neutral effect of the neutral position of the steering wheel during cornering of the vehicle and during low speed traveling is eliminated, and the disadvantage that the estimated steering neutral position is set with a large error is reliably eliminated.
そして、本実施例によれば、車両のステアリング中立推
定位置の修正は、車両がほぼ直進走行状態時においての
み行われる結果、中立位置を正しく設定することが可能
となる。Then, according to the present embodiment, the correction of the estimated steering neutral position of the vehicle is performed only when the vehicle is in a substantially straight traveling state, so that the neutral position can be set correctly.
以下に、実際の推定中立値修正作用の一例を第２図のフ
ローチヤートに基づいて説明する。Below, an example of the actual estimated neutral value correction operation will be explained based on the flow chart of FIG.
まず、車両のイグニツシヨンスイツチキーのオン作用に
より、車両がスタート状態となる。そして、車両の左車
輪速度センサ１２と右車輪速度センサ１４とからの出力
信号に基づきその平均速度が求められ、この平均速度が
基準速度Ｖminを超えているか否かの判別が行われる。
おしてこの平均速度が基準速度を超えた時に操舵角セン
サ１２により初期操舵角θooが検出され、この検出値θ
ooがステアリグの初期中立値として推定される。First, the vehicle is brought into a start state by the ON action of the ignition switch key of the vehicle. Then, the average speed is obtained based on the output signals from the left wheel speed sensor 12 and the right wheel speed sensor 14 of the vehicle, and it is determined whether or not the average speed exceeds the reference speed V min .
When the average speed exceeds the reference speed, the steering angle sensor 12 detects the initial steering angle θ oo , and the detected value θ
oo is estimated to be Stearig's initial neutral value.
次に、速度センサ１２、１４からの検出信号に基づき車
両の走行距離が演算される。本実施例においては、前記
ステアリング中立値の修正作用は所定の走行距離Loごと
に行われる。すなわち、基準走行距離Loを超えた時に改
めて両車輪の平均速度が求められ、これが基準速度Ｖ
minを超えているかどうかの判別がなされ、平均速度が
この基準速度を超えた時に次の段階として両車輪の速度
差が演算される。なお、平均速度が基準速度を超えない
場合には、両車輪の速度差は演算されない。車速が小さ
いときには、両車輪の速度差は極めて小さく、従つて実
際に操舵がなされていても、この操舵が両車輪の速度差
として検出されず、後述する次の段階の処理が無意味と
なるからである。Next, the traveling distance of the vehicle is calculated based on the detection signals from the speed sensors 12 and 14. In the present embodiment, the correction operation of the steering neutral value is performed every predetermined traveling distance Lo . That is, when the reference traveling distance L o is exceeded, the average speed of both wheels is obtained again, and this is the reference speed V.
It is determined whether or not min is exceeded, and when the average speed exceeds this reference speed, the speed difference between both wheels is calculated as the next step. If the average speed does not exceed the reference speed, the speed difference between the two wheels is not calculated. When the vehicle speed is low, the speed difference between the two wheels is extremely small. Therefore, even if steering is actually performed, this steering is not detected as the speed difference between the two wheels, and the processing of the next step described later becomes meaningless. Because.
そして、この両車輪の速度差の絶対値が所定値ΔＶ以下
であるかどうかが判断され、この速度差が所定値以下の
時に操舵角変化Δθが操舵角センサ１０により検出さ
れ、制御回路１６によりθｏ＝θ′o＋ＫΔθの式（た
だしθ′oは前回検出された推定中立値により、中立値
θ′ｏがθｏに修正されることとなる。この修正作用の
後に、車両走行距離がｏにクリヤされ、再び所定走行距
離ごとに推定中立値θｏの修正作用が順次行われること
となる。Then, it is determined whether or not the absolute value of the speed difference between the two wheels is less than or equal to a predetermined value ΔV. When the speed difference is less than or equal to the predetermined value, the steering angle change Δθ is detected by the steering angle sensor 10, and the control circuit 16 The equation of θ o = θ ′ o + KΔθ (where θ ′ o is the estimated neutral value detected last time, the neutral value θ ′ o is corrected to θ o . Therefore, the estimated neutral value θ o is corrected again for each predetermined traveling distance.
なお、車両の操舵角はこの修正された中立値に対する相
対変化量として操舵用センサ１０により求められ、この
操舵角信号により各種の制御が行われることとなる。The steering angle of the vehicle is obtained by the steering sensor 10 as a relative change amount with respect to the corrected neutral value, and various controls are performed by this steering angle signal.
変形例 本実施例において、車両両車輪の平均速度が基準速度を
越えた時をステアリング中立値の修正条件としている
が、この場合、両車輪の平均速度を求めることなく、一
方車輪の速度が基準速度を越えた時を前記修正条件とす
ることもできる。Modified Example In the present embodiment, when the average speed of both wheels of the vehicle exceeds the reference speed, the correction condition of the steering neutral value is set, but in this case, the speed of one wheel is set as a reference without obtaining the average speed of both wheels. The correction condition may be set when the speed is exceeded.
発明の効果 以上説明したように本発明によれば、ステアリングの推
定中立位置の修正作用は車両が所定速度以上であり、か
つ、左右輪速度差が所定値以下のとき、車両が直進走行
状態であると判定し、これによりステアリング中立位置
推定の正確化を図ることが可能である。EFFECTS OF THE INVENTION As described above, according to the present invention, when the estimated neutral position of the steering wheel is corrected, when the vehicle is at a predetermined speed or higher and the left and right wheel speed difference is a predetermined value or less, the vehicle is in a straight traveling state. Therefore, it is possible to accurately estimate the steering neutral position.
第１図は本発明に係る車両の操舵角検出装置を示す概略
構成図、 第２図は、本発明に係る車両の操舵角検出装置のフロー
チヤート図である。 １０……操舵角センサ、 １２……左車輪速度センサ、 １４……右車輪速度センサ、 １６……制御回路。FIG. 1 is a schematic configuration diagram showing a vehicle steering angle detection device according to the present invention, and FIG. 2 is a flow chart of the vehicle steering angle detection device according to the present invention. 10 ... Steering angle sensor, 12 ... Left wheel speed sensor, 14 ... Right wheel speed sensor, 16 ... Control circuit.
───────────────────────────────────────────────────── フロントページの続き (72)発明者 宮田 博司 愛知県豊田市トヨタ町１番地 トヨタ自動 車株式会社内 (56)参考文献 特開 昭57−41267（ＪＰ，Ａ) 特開 昭52−81830（ＪＰ，Ａ) ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Hiroshi Miyata 1 Toyota Town, Toyota City, Aichi Prefecture Toyota Automobile Co., Ltd. (56) Reference JP-A-57-41267 (JP, A) JP-A-52-81830 (JP, A)
Claims (1)
な操舵角を検出する操舵角センサと、前記操舵角センサ
からの検出信号に基づき前記推定中立値を補正する中立
補正手段とを含み、前記推定中立値の補正作用によって
正しい車両操舵角を求める車両の操舵角検出装置におい
て、車両の左車輪の速度を検出する左車輪速度検出手段
と、右車輪の速度を検出する右車輪速度検出手段と、両
出力値の差分を演算する左右輪速度差演算手段と、前記
左右輪速度差演算手段にて演算された差分に基づき車両
の直進走行状態を検出する走行状態検出手段とを有し、
車速が所定値以上であり、かつ、演算された左右輪速度
差が所定値以下のときに前記走行状態検出手段は車両が
直進走行状態と判定して前記操舵角センサからの検出信
号に基づき前記中立補正手段が前記推定中立値を補正す
ることを特徴とする車両の操舵角検出装置。1. A steering angle sensor for detecting a steering angle relative to an estimated neutral value of steering, and a neutral correction means for correcting the estimated neutral value based on a detection signal from the steering angle sensor. In a steering angle detection device for a vehicle that obtains a correct vehicle steering angle by a correction action of a neutral value, left wheel speed detection means for detecting the speed of the left wheel of the vehicle, and right wheel speed detection means for detecting the speed of the right wheel, A left and right wheel speed difference calculating means for calculating a difference between both output values, and a running state detecting means for detecting a straight running state of the vehicle based on the difference calculated by the left and right wheel speed difference calculating means,
When the vehicle speed is equal to or higher than a predetermined value and the calculated difference between the left and right wheel speeds is equal to or lower than the predetermined value, the traveling state detecting means determines that the vehicle is in a straight traveling state and detects the steering angle sensor based on the detection signal. A steering angle detection device for a vehicle, wherein a neutral correction means corrects the estimated neutral value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP58122541A JPH0613301B2 (en) | 1983-07-06 | 1983-07-06 | Vehicle steering angle detector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP58122541A JPH0613301B2 (en) | 1983-07-06 | 1983-07-06 | Vehicle steering angle detector |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS6015270A JPS6015270A (en) | 1985-01-25 |
| JPH0613301B2 true JPH0613301B2 (en) | 1994-02-23 |
Family
ID=14838419
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP58122541A Expired - Lifetime JPH0613301B2 (en) | 1983-07-06 | 1983-07-06 | Vehicle steering angle detector |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0613301B2 (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2614348B2 (en) * | 1990-06-04 | 1997-05-28 | 株式会社デンソー | Steering angle detector |
| KR0140257B1 (en) * | 1995-10-31 | 1998-07-01 | 정몽원 | Electronic power steering control equipment & method |
| FR2755931B1 (en) * | 1996-11-15 | 1999-02-12 | Peugeot | METHOD AND DEVICE FOR ANALYZING THE OUTPUT INFORMATION OF A RELATIVE ANGULAR POSITION SENSOR OF A MOTOR VEHICLE STEERING WHEEL |
| KR19980054048A (en) * | 1996-12-27 | 1998-09-25 | 박병재 | How to detect steering rotation angle of vehicle |
| WO1999050124A1 (en) * | 1998-03-31 | 1999-10-07 | Continental Teves Ag & Co. Ohg | Method and device for checking and correcting the output of a steer angle sensor |
| EP3040254B1 (en) * | 2013-08-28 | 2019-11-20 | Kyocera Corporation | Turning angle correction method, turning angle correction device, image-capturing device, and turning angle correction system |
| JP6023030B2 (en) * | 2013-09-26 | 2016-11-09 | 京セラ株式会社 | Rudder angle correction method, rudder angle correction device, imaging device, and rudder angle correction system |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5281830A (en) * | 1975-12-29 | 1977-07-08 | Okamura Shiro | Vehicle steering system |
| JPS5741267A (en) * | 1980-08-20 | 1982-03-08 | Honda Motor Co Ltd | Circuit for detecting steering angle center of vehicle |
-
1983
- 1983-07-06 JP JP58122541A patent/JPH0613301B2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JPS6015270A (en) | 1985-01-25 |
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