Estimated rudder angle calculation device for vehicles

Abstract

There is provided an estimated steering angle calculation device for a vehicle capable of suppressing deterioration in accuracy of an estimated steering angle even if vehicle wheels slips or is locked due to acceleration or deceleration of the vehicle. Although, when being accelerated during turning, tire gripping force of front wheels serving as a driving wheel increases and a difference between wheel speeds of the front wheels decreases so that an estimated steering angle θes relative to an actual steering angle θact tends to decrease, the deterioration in accuracy of the estimated steering angle θes due to this tendency can be suppressed by increasing a second contribution rate relative to the estimated steering angle θes on the rear wheel side and decreasing a first contribution rate on the front wheel side in accordance with an accelerator opening degree.

Description

technical field

[0001] The present invention relates to an estimated steering angle calculation device for a vehicle that calculates an estimated steering angle of the vehicle based on wheel speeds of the vehicle. Background technique

[0002] In the control steering angle calculation unit of the electric power steering device disclosed in Patent Document 1, the first estimated steering angle of the steering wheel (steering wheel) estimated using the wheel speed of the left and right wheels on the front wheel side and the first estimated steering angle after use The second estimated steering angles of the steering wheels estimated from the wheel speeds of the left and right wheels on the wheel side are averaged to obtain an average estimated steering angle (Formula (6) on page 28 of Patent Document 1).

[0003] In addition, Patent Document 1 describes a numerical formula based on the Ackermann-Jeantaud theory that serves as the basis for calculating the first estimated steer...

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