Turning radius calculation method, steering assistance apparatus and parking assistance apparatus employing the turning radius calculation method, turning radius calculation program, and recording med

Abstract

The disclosed turning radius calculation method includes: expressing a steering system model by taking the steering angle and the turning angles of the outer and inner tires as variables and including a relational expression of known parameters and unknown parameters; inputting known parameter data based on design data; from The relational expression corresponding to the zero-steering state and the relational expression corresponding to the full-steering state calculate the unknown parameters; using the relational expression of the calculated data of the unknown parameter input, calculate the multi-value corresponding to the zero-steering state and the fully-steering state, respectively. Turning angles of the outside and inside tires for each steering angle; calculating a turning radius corresponding to the calculated turning angles of the outside and inside tires; and calculating an approximate function of the turning radius to the steering angle based on the plurality of steering angles and turning radii.

Description

technical field [0001] The present invention relates to a method of calculating a turning radius of a vehicle from a steering angle, a steering assist device and a parking assist device using the method, a turning radius calculating program causing a computer to implement the method, and a recording medium. Background technique [0002] Conventionally, as disclosed in, for example, JP-2002-251632A, a driving assistance device has been developed by displaying an actual rear-view image of a vehicle captured by a CCD camera on a monitor screen, and displaying it on the monitor screen as a The driving operation is assisted by superimposed display of the predicted trajectory of the vehicle during the backward movement of the vehicle based on steering angle information detected, for example, by sensors. The driving assistance apparatus described above allows a driver to perform, for example, sideways parking a vehicle inside a parking space by driving the vehicle while observing a...

AI Technical Summary

Problems solved by technology

[0005] However, the actual measurement of the turning radius needs to be performed multiple times for different steering angles

This leads to the extremely troublesome problem

In addition, if it is attempted to install the driving assistance device in several vehicle models, it is necessary to obtain the vehicle characteristics of each vehicle model by actual measurement, which is laborious work

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