PROCESSING DEVICE

Abstract

A processing device is created that can calculate an offset amount of the steering angle detection value and correct it based on a steering angle detection value from a steering angle sensor that detects the steering angle of a vehicle. The processing device performs the following processing: A recording process (P1) of acquiring the direction and radius of curvature of a curve in a road on which the vehicle is traveling, as well as the vehicle's speed and steering angle detection value; and recording the vehicle's speed and steering angle detection value as curve data associated with the direction and radius of curvature of the curve. A classification process (P2) classifies the curve data into right-hand curve data and left-hand curve data based on the direction.An extraction process P3 extracts the relevant right-turn and left-turn data. A calculation process P4 calculates the offset amount based on the steering angle detection value of the extracted right-turn data and the steering angle detection value of the extracted left-turn data. A correction process P5 corrects the steering angle detection value based on the offset amount.

Description

Technical field

[0001] The present disclosure relates to a processing device. Technical background

[0002] An earlier invention relating to a neutral point detection device is known, which is used in a steering control system (see PTL 1 below). The neutral point detection device described in PTL 1 is used in a steering control system installed in a vehicle, detects a steering angle of the vehicle's steering device as a detection value by a steering angle sensor, and controls the steering device using the detection value. This conventional neutral point detection device includes a straight-line determination section, a straight-line determination section, a steering angle detection section, and a detection section (see PTL 1, the abstract, claim 1, paragraph 0008, and the like).

[0003] The straight-line determination section determines whether the road on which the vehicle is traveling is straight. The straight-line determination section determines whether the vehicle is traveling in a straight line along the road. The steering angle detection section acquires a detection value from the steering angle sensor. The detection section detects a neutral point of the steering angle sensor based on the detection value acquired by the steering angle detection section when the straight-line determination section determines that the road is straight and the straight-line determination section determines that the vehicle is traveling in a straight line along the road.

[0004] Because in the above configuration the steering angle sensor's neutral point is determined when the road is straight, it is possible to accurately determine whether the vehicle is traveling in a straight line or not. Since the steering angle sensor's neutral point is determined when the vehicle is traveling in a straight line, it can then be determined when the vehicle is traveling without any steering input. Therefore, the steering angle sensor's neutral point can be obtained more accurately (see PTL 1, paragraph 0009). List of oppositions patent literature

[0005] PTL 1: JP 2018-075946 A Summary of the invention: Technical problem

[0006] The steering angle detection value of the steering angle sensor, which detects the steering angle, can contain an offset. This offset is an error between the steering angle at the steering's neutral position (0 degrees) and the steering angle detection value. Such an error can occur, for example, due to a vehicle assembly process or deterioration over time and affects automated driving and advanced driver assistance systems. Therefore, it is necessary to correct the steering angle detection value by calculating the offset contained within it.

[0007] However, the conventional neutral point detection device described above cannot calculate the offset amount contained in the steering angle sensor's detection value. Some vehicles, for example, exhibit a large amount of steering play. To give a more specific example, in a large vehicle such as a truck, the angle of a steering force dead zone from the steering's neutral position to the point of input, reflected in the steering of the turned wheels, can be approximately 10 to 20 degrees. The vehicle will travel in a straight line without turning, even if the steering is applied from the neutral position within this steering force dead zone.

[0008] When it is determined that the vehicle is traveling straight on the road, the detection section of the conventional neutral point detection device described above detects the neutral point of the steering angle sensor based on the detection value acquired by the steering angle sensing section. The detection section of the conventional neutral point detection device described above can detect the neutral point of the steering angle sensor in a state where the vehicle's steering is, for example, actuated within the steering force dead zone of approximately 10 to 20 degrees from the neutral position. In this case, the steering angle sensor outputs an angle detection value that includes an offset of approximately 10 to 20 degrees.

[0009] The present disclosure provides a processing device which, based on a steering angle detection value of a steering angle sensor that detects a steering angle of a vehicle, can calculate an offset amount of the steering angle detection value and correct the steering angle detection value. Solution to the problem

[0010] One aspect of the present disclosure is a processing device that calculates an offset amount of the steering angle detection value based on a steering angle detection value from a steering angle sensor that detects the steering angle of a vehicle. The processing device performs: a recording process of capturing the direction and radius of curvature of a curve in a road on which the vehicle is traveling, and the vehicle's speed and steering angle detection value; and recording the vehicle's speed and steering angle detection value as curve data associated with the direction and radius of curvature of the curve; a classification process of classifying the curve data into right-turn data and left-turn data based on the direction; and an extraction process of extracting the relevant right-turn data and left-turn data.a calculation process for calculating the offset amount based on the steering angle detection value of the extracted right-turn data and the steering angle detection value of the extracted left-turn data; and a correction process for correcting the steering angle detection value based on the offset amount. Advantageous effects of the invention

[0011] According to the above aspect of the present disclosure, a processing device can be created which, based on a steering angle detection value of a steering angle sensor that detects a steering angle of a vehicle, can calculate an offset amount of the steering angle detection value and correct the steering angle detection value. List of characters Fig. Figure 1 is a block diagram illustrating a first embodiment of a processing device according to the present disclosure. Fig. 2 is a process flow chart that describes the sequence of processing by the processing device according to Fig. 1 represents. Fig. Figure 3 is a flowchart that represents a process by a second embodiment of the device according to the present disclosure. Fig. 4 is a top view of a curve of a road to describe the in Fig. 3 extraction processing methods shown. Fig. 5 is a data flow diagram that shows the Fig. The table generation process shown in section 3 is described. Fig. 6 is a data flow diagram that shows the Fig. The calculation process shown in section 3 is described. Description of the embodiments

[0012] In the following, embodiments of a processing device according to the present disclosure are described with reference to the accompanying drawings. [First embodiment]

[0013] Fig. Figure 1 is a block diagram illustrating a first embodiment of the processing device according to the present disclosure. A processing device 10 of the present embodiment forms a control device that is installed, for example, in a vehicle or part thereof. For a more specific example, the processing device 10 is a central processing unit (CPU) 11 alone, or a microcontroller, or firmware including a CPU 11. It is stated that a "vehicle" in the following description is a vehicle in which the processing device 10 is installed, unless otherwise specified.

[0014] In the Fig. In the illustrated example 1, the processing device 10 contains a CPU 11 and a memory 12, such as a read-only memory (ROM) or flash memory. Although not illustrated, the processing device 10 also contains, for example, a program stored in memory 12, a timer, and an input / output section for communication with an external device.

[0015] The processing device 10 is connected, for example, via the input / output section to various sensors, control devices, actuators, and the like that are installed in the vehicle. In the Fig. In the illustrated example 1, the processing device 10 is connected to a road information output device 1, a position sensor 2, a speed sensor 3, an acceleration sensor 4, a steering angle sensor 5 and an air pressure sensor 6.

[0016] The road information output device 1 outputs road information Ir, which is information about a road on which the vehicle equipped with the processing device 10 is traveling, to the processing device 10. The road information output device 1 is a data processing device that includes, for example, a storage device in which the road information Ir is stored. Examples of the elements included in the road information Ir are a road shape, such as a curve or an intersection, a road width, lane information, a route, a direction D of the curve, and a radius of curvature R. It is stated that the road information output device 1 could, for example, be an imaging device, such as a stereo camera, that captures the road ahead of the vehicle and outputs the road information Ir.

[0017] The position sensor 2 contains a satellite navigation system, such as a global navigation satellite system (GNSS), and outputs the vehicle's position information Ip to the processing device 10. The speed sensor 3 calculates, for example, the vehicle's speed V by measuring the rotational speed of one of the vehicle's wheels and outputs the speed V to the processing device 10. The acceleration sensor 4 measures the longitudinal and lateral acceleration α of the vehicle and outputs the acceleration α to the processing device 10.

[0018] The steering angle sensor 5 detects, for example, a steering angle θ of the vehicle's steering and outputs a steering angle detection value θd to the processing device 10. In a case where the steering angle detection value θd does not contain an offset amount, the steering angle sensor 5 outputs 0 degrees as the steering angle detection value θd when the steering is held in a neutral position. Furthermore, the steering angle sensor 5 outputs a positive steering angle detection value θd when the steering is turned to the right from the neutral position, while it outputs a negative steering angle detection value θd when the steering is turned to the left from the neutral position.

[0019] The air pressure sensor 6 measures the air pressure P of a tire of the vehicle and outputs the air pressure P to the processing device 10. It is stated that in the present embodiment, various sensors connected to the processing device 10 are examples and can be added or omitted. For example, the air pressure sensor 6 can be omitted from the present embodiment. Furthermore, either the position sensor 2 or the acceleration sensor 4 can be omitted.

[0020] Fig. 2 is a flow chart that describes the sequence of processing by the processing device 10 according to Fig. 1 represents. By executing each in Fig. In the processing element 2 shown, the processing device 10 of the present embodiment calculates an offset amount of the steering angle detection value θd based on the steering angle detection value θd of the steering angle sensor 5, which detects the steering angle θ of the vehicle's steering system, in order to correct the steering angle detection value θd. Here, the offset amount is the amount of the deviation between the steering angle θ at the neutral position of the steering (0 degrees) and the steering angle detection value θd.

[0021] As in Fig. As illustrated in Figure 2, the processing device 10 performs a recording process P1, a classification process P2, an extraction process P3, a computation process P4, and a correction process P5. In other words, the processing device 10 has a recording function, a classification function, an extraction function, a computation function, and a correction function. These processes or functions can be implemented, for example, by the CPU 11, which executes a program that is defined in the Fig. The memory 12 is illustrated in section 1. The following describes each in Fig. 2 illustrated elements of the processing in detail.

[0022] If the in Fig. When the processing shown in Figure 2 begins, the processing device 10 first performs the recording processing P1. During recording processing P1, the processing device 10 performs, for example, the following processing: The processing device 10 detects, for example, the direction D and the radius of curvature R of a curve in the road on which the vehicle is traveling, by acquiring the road information Ir from the road information output device 1.

[0023] The processing device 10 also determines, for example, whether the vehicle is traveling along a curve, based on the road information Ir acquired by the road information output device 1 and the position information Ip acquired by the position sensor 2. It is stated that, for example, instead of acquiring the position information Ip from the position sensor 2, the processing device 10 can acquire the acceleration α in the longitudinal and lateral directions of the vehicle from the acceleration sensor 4 and, based on the acceleration α, determine whether the vehicle is traveling along a curve.

[0024] If it is determined that the vehicle is not traveling along a curve, the processing device 10, for example, repeatedly performs processing in a predefined cycle to acquire the position information Ip. If, for example, it is determined that the vehicle is traveling along a curve, the processing device 10 acquires the vehicle's speed V from the speed sensor 3 and the steering angle detection value θd from the steering angle sensor 5. Additionally, the processing device 10 records the speed V and the steering angle detection value θd of the vehicle traveling along the curve in memory 12 as the curve data, which are associated with the direction D and the radius of curvature R of the curve.

[0025] The direction D of the curve is, for example, "right" for a right-hand curve and "left" for a left-hand curve. Furthermore, the radius of curvature R of the curve refers, for example, to the radius of curvature R of the vehicle's path as it travels along the curve, and, for example, to the radius of curvature R of a curve that passes through the center of a lane in the width direction of the lane in which the vehicle is traveling. Additionally, the direction D and the radius of curvature R of the curve are contained in the road information Ir, with the processing device 10 acquiring the direction D and the radius of curvature R of the curve from the road information output device 1.

[0026] If the radius of curvature R of a curve is not included in the road information Ir, the processing device 10 can calculate the direction D and the radius of curvature R of the curve based on a road shape included in the road information Ir. For a more specific example, the radius of curvature R of a curve can be calculated by the processing device 10 using a known method as described in JP 2005-115752, based on a road shape included in the road information Ir. The vehicle's route can be calculated based on the vehicle's position information Ip, and the direction D and the radius of curvature R of the curve can be calculated based on the route.

[0027] During recording processing P1, the processing device 10 can exclude curve data where the change in velocity V or the change in steering angle detection value θd exceeds a predefined range from the recording target. In this case, the predefined range of the change in velocity V or the change in steering angle detection value θd is predetermined and recorded in memory 12.

[0028] As described above, when the processing device 10 performs the recording processing P1, time series data of the speed V and time series data of the steering angle detection value θd of the vehicle traveling along the curve are assigned to the direction D and the radius of curvature R of the curve and recorded in memory 12 as curve data. The recording processing P1 is terminated by the above.

[0029] Next, the processing device 10 performs the classification processing P2. During classification processing P2, the processing device 10 performs, for example, the following processing: The processing device 10 classifies the curve data recorded in memory 12 into right-turn data and left-turn data based on the direction D of the curve. Additionally, in the present embodiment, the processing device 10 classifies, for example, based on the vehicle's speed V and the curve's radius of curvature R, several portions of the right-turn data and several portions of the left-turn data into several right-turn data groups and several left-turn data groups.

[0030] For a more specific example, the processing device 10 classifies each part of the right-hand curve data into a predefined right-hand curve data group based on the velocity V and the radius of curvature R contained in each part of the right-hand curve data, according to predefined ranges of velocity V and radius of curvature R. Similarly, the processing device 10 classifies, for example, each part of the left-hand curve data into a predefined left-hand curve data group based on the velocity V and the radius of curvature R contained in each part of the left-hand curve data, according to predefined ranges of velocity V and radius of curvature R.

[0031] This means that right-hand curve data containing the velocity V and the radius of curvature R within predefined ranges are classified into corresponding right-hand curve data groups, while left-hand curve data containing the velocity V and the radius of curvature R within predefined ranges are classified into corresponding left-hand curve data groups. The width of the velocity V for each right-hand curve data group and left-hand curve data group can be appropriately set to 0.1 km / h, 0.5 km / h, 1.0 km / h, 5.0 km / h, 10.0 km / h, or similar values, depending on the situation. Similarly, the width of the radius of curvature R for each right-hand curve data group and left-hand curve data group can be appropriately set to 0.1 m, 0.5 m, 1.0 m, 5.0 m, 10.0 m, or similar values, depending on the situation.

[0032] More specifically, it is assumed that the widths of the speed V and the radius of curvature R of the respective right-hand curve data groups are set to 5.0 [km / h] and 5.0 [m], respectively. In this case, for example, right-hand curve data where the speed V is 32.5 [km / h] and the radius of curvature R is 50 [m] are classified into a right-hand curve data group where the speed V range is 30.0 [km / h] or greater and less than 35.0 [km / h] and the radius of curvature R range is 50 [m] or greater and less than 55 [m].

[0033] Similarly, it is assumed that the widths of the velocity V and the radius of curvature R of the respective left-hand curve data groups are set to 5.0 [km / h] and 5.0 [m], respectively. In this case, for example, left-hand curve data where the velocity V is 37.3 [km / h] and the radius of curvature R is 100 [m] are classified into a left-hand curve data group where the velocity V range is 35.0 [km / h] or greater and less than 40.0 [km / h] and the radius of curvature R range is 100 [m] or greater and less than 105 [m]. The above completes the classification processing P2. The classification processing P2 can also be expressed as the identification of a right-hand curve and a left-hand curve with similar shapes.

[0034] Next, the processing device 10 performs the extraction process P3. In extraction process P3, the processing device 10 extracts the relevant right-curve data and left-curve data. In the extraction process P3 of the present embodiment, the processing device 10 extracts, for example, a pair consisting of a right-curve data group and a left-curve data group with equivalent velocity V and equivalent radius of curvature R. In a more specific example, the processing device 10 extracts a right-curve data group and a left-curve data group with the same ranges of velocity V and radius of curvature R as a pair of relevant data groups.

[0035] In the extraction process P3 of the present embodiment, it is assumed that the processing device 10 extracts, for example, several pairs of data groups, i.e., several pairs of right-turn data groups and left-turn data groups. In this case, during extraction process P3, the processing device 10 extracts, for example, from the curve data forming each of the data group pairs, a data group pair with the longest stabilization time in which the steering angle detection value θd is a constant value.

[0036] During extraction processing P3, the comparison of the stabilization time of the steering angle detection value θd in the curve data forming each of the data group pairs can be performed, for example, as follows. For each portion of the curve data forming each data group pair, a score is assigned such that the longer the stabilization time of the steering angle detection value θd, the higher the score. A data group pair with the highest total score is then extracted from the multiple data group pairs. The extraction processing P3 is completed by the above steps.

[0037] Next, the processing device 10 performs the calculation process P4. In calculation process P4, the processing device 10 calculates the offset amount of the steering angle detection value θd based on the steering angle detection value θd of the extracted right-turn data and the steering angle detection value θd of the extracted left-turn data. In calculation process P4, the processing device 10 of the present embodiment performs, for example, the following processing.

[0038] The processing device 10 calculates the type of steering angle detection values ​​θd of the several parts of the right-turn data that constitute the extracted right-turn data group. The processing device 10 also calculates the type of steering angle detection values ​​θd of the several parts of the left-turn data that constitute the extracted left-turn data group. The processing device 10 then calculates an average value of the calculated types of steering angle detection values ​​θd of the right-turn data and the left-turn data as the offset amount of the steering angle detection value θd.

[0039] For a more specific example, assume that the type of steering angle detection value θd of the multiple parts of the right-turn data forming the extracted right-turn data group is 35 degrees, and the type of steering angle detection value θd of the multiple parts of the left-turn data forming the extracted left-turn data group is -30 degrees. In this case, the offset amount of the steering angle detection value θd according to {35 + (-30)} / 2 is 2.5 degrees. The offset amount calculated during computational processing P4 is recorded, for example, in memory 12. The above terminates computational processing P4.

[0040] Next, the processing device 10 performs the correction processing P5. In correction processing P5, the processing device 10 corrects the steering angle detection value θd based on the offset amount. For a specific example, the processing device 10 corrects the steering angle detection value θd by subtracting the offset amount from the steering angle detection value θd detected by the accelerometer 4. In a more specific example, the offset amount is assumed to be 2.5 degrees. In this case, the processing device 10 corrects the steering angle detection value θd to 32.5 degrees when the steering angle detection value θd detected by the accelerometer 4 is 35 degrees, while it corrects the steering angle detection value θd to -32.5 degrees when the steering angle detection value θd detected by the accelerometer 4 is -30 degrees. The above process ends the correction processing P5, with each element of the in Fig. The processing shown in section 2 ends.

[0041] The following describes the operation of the processing device 10 of the present embodiment.

[0042] When turning left at an intersection on a narrow street, such as one in a residential area, during automated driving or advanced driver assistance systems where the vehicle is steered automatically, it may be necessary for the vehicle to travel along a curve with a relatively small radius of curvature. In such a case, it is necessary to control the vehicle's trajectory with high accuracy. To control the vehicle's trajectory with high accuracy, the steering angle sensor 5 must detect the steering angle θ with high accuracy.

[0043] The steering angle detection value θd output by steering angle sensor 5 can, however, contain an offset amount caused, for example, by an assembly process or aging. As described above, this offset amount is an error or deviation between the steering angle at the steering's neutral position (0 degrees) and the steering angle detection value. Such an error or deviation affects automated driving or advanced driver assistance systems. Therefore, it is necessary to correct the steering angle detection value by calculating the offset amount contained within it.

[0044] As described above, a conventional neutral point detection device cannot calculate the offset amount contained in the steering angle sensor's detection value. The steering angle sensor's detection value itself, which includes the offset amount, cannot be corrected. In this case, when the vehicle's automated driving or advanced driver assistance systems are operating using the steering angle sensor's detection value, the vehicle's direction of travel cannot be controlled with the required accuracy when driving along a curve with a relatively small radius of curvature, such as the one described above. As a result, the vehicle may deviate from a predetermined route.

[0045] In contrast, the processing device 10 of the present embodiment, as described above, calculates the offset amount of the steering angle detection value θd based on the steering angle detection value θd of the steering angle sensor 5, which detects the steering angle θ of the vehicle's steering system. As described in Fig. As illustrated in Figure 2, the processing device 10 performs a recording process P1, a classification process P2, an extraction process P3, a computation process P4, and a correction process P5. The recording process P1 is a process to capture the direction D and the radius of curvature R of a curve in the road on which the vehicle is traveling, as well as the vehicle's speed V and steering angle detection value θd. It records the vehicle's speed V and steering angle detection value θd as it travels along the curve, as the curve data associated with the direction D and radius of curvature R. The classification process P2 is a process to classify the curve data into right-turn data and left-turn data based on the direction D. The extraction process P3 is a process to extract the relevant right-turn and left-turn data.The calculation process P4 is a process to calculate an offset amount based on the steering angle detection value θd of the extracted right-turn data and the steering angle detection value θd of the extracted left-turn data. The correction process P5 is a process to correct the steering angle detection value θd based on the offset amount.

[0046] With such a configuration, according to the processing device 10 of the present embodiment, an offset amount of the steering angle detection value θd can be calculated based on the steering angle detection value θd of the steering angle sensor 5, which detects the steering angle θ of the vehicle's steering system, and the steering angle detection value θd can be corrected. As a result, the steering angle sensor 5 can detect the steering angle θ with high accuracy. Accordingly, by performing automated driving or advanced driver assistance of the vehicle using the steering angle detection value θd corrected by the processing device 10, the vehicle's direction of travel can be controlled with the required accuracy when the vehicle is traveling along a curve with a relatively small radius of curvature, as described above.

[0047] The steering angle detection value θd, corrected by the processing device 10, is used, for example, to estimate the vehicle's trajectory. More specifically, the steering angle detection value θd, corrected by the processing device 10, is input into a predefined computational model for trajectory estimation, whereby the vehicle's trajectory is estimated by the computational model. An Ackermann model, for example, can be used as the computational model. If an Ackermann model is used, the steering angle detection value θd, corrected by the processing device 10, is input into the Ackermann model along with numerical values ​​such as the vehicle's speed V and wheelbase.

[0048] During classification processing P2, the processing device 10 of the present embodiment classifies several parts of the right-turn data and several parts of the left-turn data into several right-turn data groups and several left-turn data groups based on the velocity V and the radius of curvature R. Furthermore, during extraction processing P3, the processing device 10 extracts one right-turn data group and one left-turn data group with the equivalent velocity V and the equivalent radius of curvature R. Additionally, during computation processing P4, the processing device 10 calculates an average value of the type of steering angle detection values ​​θd of the several parts of the right-turn data forming the extracted right-turn data group and of the type of steering angle detection values ​​θd of the several parts of the left-turn data forming the extracted left-turn data group, as the offset amount.

[0049] This configuration allows the processing device 10 of the present embodiment to extract multiple portions of the right-turn data and multiple portions of the left-turn data when the vehicle is traveling at an equivalent speed in a substantially two-sided symmetrical curve. Furthermore, by using the nature of the steering angle detection values ​​θd of the multiple portions of the extracted right-turn data and the nature of the steering angle detection values ​​θd of the multiple portions of the extracted left-turn data, it is possible to eliminate extreme steering angle detection values ​​θd and improve the reliability of the steering angle detection value θd of the vehicle traveling along a two-sided symmetrical curve. Based on a highly reliable steering angle detection value θd, a highly reliable offset amount can then be calculated.

[0050] When the data group pairs of the multiple right-turn data groups and the multiple left-turn data groups are extracted during extraction processing P3, the processing device 10 of the present embodiment extracts from the curve data forming each of the data group pairs a data group pair with the longest time during which the steering angle detection value is constant.

[0051] This configuration makes it possible to extract a data group pair containing curve data from when the vehicle is traveling along a curve in a more stable state. Accordingly, the reliability of the multiple right-turn and left-turn data groups can be increased, as can the reliability of the multiple parts of the right-turn and left-turn data, and the reliability of the steering angle detection value θd of the vehicle traveling along a two-sided symmetrical curve.

[0052] In recording processing P1, the processing device 10 of the present embodiment can also exclude curve data where a change in speed V or a change in steering angle detection value θd exceeds a predetermined range.

[0053] This configuration allows, for example, the exclusion of low-reliability curve data containing disturbances, thereby increasing the reliability of the curve data. As a result, the reliability of the multiple parts of the right-hand curve data and the multiple parts of the left-hand curve data can be improved, and the reliability of the steering angle detection value θd of the vehicle traveling along a two-sided symmetrical curve can be increased.

[0054] According to the present embodiment, as described above, a processing device 10 can be created which, based on the steering angle detection value θd of the steering angle sensor 5, which detects the steering angle θ of the vehicle's steering, can calculate an offset amount of the steering angle detection value θd and correct the steering angle detection value θd. [Second embodiment]

[0055] Next, a second embodiment of the processing device according to the present disclosure will be presented with the support of Fig. 1 and regarding the Fig. 3 to Fig. 6 described. Fig. Figure 3 is a flow chart that represents a process by a processing device 10 of the present embodiment. Fig. 4 is a top view of a curve in a road to describe the Fig. 3 extraction processing steps P3 are shown. Fig. 5 is a data flow diagram that shows the Fig. Table generation processing shown in section 3 is described in section P7. Fig. 6 is a data flow diagram that shows the Fig. The calculation processing shown in section 3, P4, is described.

[0056] The processing device 10 according to the first embodiment described above extracts, during extraction processing P3, a right-curve data group and a left-curve data group with equivalent velocity V and equivalent radius of curvature R in order to extract the relevant right-curve and left-curve data. In contrast, the processing device 10 of the present embodiment differs from the processing device 10 of the first embodiment in performing the subsequent processing.

[0057] In extraction processing P3, the processing device 10 of the present embodiment extracts, for example, the right-hand curve data and the left-hand curve data corresponding to an inner lane and an outer lane of the same curve at the equivalent speed V of the vehicle, as shown in Fig. Figure 4 illustrates this. Additionally, the processing device 10 of the present embodiment, as shown in the Fig. 3 and Fig. Figure 5 illustrates a table generation process P7 to generate a table T based on the data extracted during the extraction process P3.

[0058] Additionally, the processing device 10 of the present embodiment uses Table T, as shown in Fig. 6 is illustrated, in which in Fig. Figure 3 illustrated computational processing P4. Then, during computational processing P4, the processing device 10 converts a steering angle detection value θd(I) of the inner curve data corresponding to the inner lane of the curve into a steering angle detection value θd(I') corresponding to a radius of curvature R(O) of the outer curve data corresponding to the outer lane of the same curve, calculating an offset amount θoff.

[0059] Because the other configuration of the processing device 10 of the present embodiment is similar to that of the processing device 10 of the first embodiment described above, similar elements are designated with the same reference numerals, and their descriptions are omitted. The following describes the processing device 10 of the present embodiment in more detail, focusing on the differences between the processing device 10 of the present embodiment and the processing device 10 of the first embodiment.

[0060] Similar to the one in Fig. In the processing device 10 of the first embodiment illustrated in Figure 1, the processing device 10 of the present embodiment is the CPU 11 alone or a microcontroller or firmware including the CPU 11, wherein it is connected via an input / output section to various sensors, control devices, actuators and the like that are installed in the vehicle.

[0061] As in Fig. As illustrated in Figure 3, the processing device 10 of the present embodiment performs a recording process P1, a classification process P2, an extraction process P3, a computation process P4, and a correction process P5 in the same manner as the processing device 10 of the first embodiment described above. In addition, the processing device 10 of the present embodiment also performs a determination process P6 and a table generation process P7.

[0062] In extraction processing P3, the processing device 10 of the present embodiment extracts the right-hand curve data and the left-hand curve data corresponding to an inner lane and an outer lane of the same curve at the equivalent speed V, as respective inner curve data and outer curve data, as shown in Fig. Figure 4 illustrates this. It states that Fig. 4 illustrates an example where the road has left-hand traffic, but the road can also have right-hand traffic.

[0063] The fact that the speed V is equivalent here does not only refer to a case where the speed V of the right-hand curve data and the left-hand curve data is equivalent, but also includes, for example, a case where several speed ranges are defined according to the specified speed and the speed V of the right-hand curve data and the left-hand curve data are contained within the same speed range. Furthermore, it can be determined, for example, by the position information Ip and the road information Ir contained in the right-hand curve data and the left-hand curve data, whether the right-hand curve data and the left-hand curve data correspond to the inner and outer lanes of the same curve.

[0064] The processing device 10 can repeatedly execute the recording processing P1, the classification processing P2, and the extraction processing P3 until, during extraction processing P3, the number of data pairs of right-turn data and left-turn data with the equivalent velocity V reaches a specified number. In this case, when the number of data pairs reaches the specified number during extraction processing P3, the processing device 10 extracts, for example, a data pair with the longest time during which the velocity V or the steering angle detection value θd is maintained at a constant value.

[0065] The processing device 10 of the present embodiment also performs the determination process P6 to determine whether a table T has been completed after the extraction process P3. If the determination process P6 determines that a table T has not been completed (no), the processing device 10 performs the table generation process P7. In the table generation process P7, as described in Fig. As illustrated in Figure 5, the processing device 10 detects the radius of curvature R(O), a steering angle detection value θd(O) and the velocity V of the outer curve data and a radius of curvature R(I), the steering angle detection value θd(I) and the velocity V of the inner curve data.

[0066] Additionally, the processing device 10 generates a table T that can derive a steering angle ratio θd(O) / θd(I), which is a ratio of the detected steering angle detection values ​​θd(O) and θd(I), from a radius of curvature ratio R(O) / R(I), which is a ratio of the detected radii of curvature R(O) and R(I), according to the equivalent velocities V1, V2, V3, ..., and Vn. The processing device 10 then, for example, repeats the recording processing P1 up to the extraction processing P3, and again performs the determination processing P6.

[0067] If the determination process P6 determines that table T has been completed (yes), the processing device 10 executes the calculation process P4. In the calculation process P4, as described in Fig. As illustrated in Figure 6, the processing device 10 detects the radius of curvature R(O) and the velocity V of the outer curve data extracted during extraction processing P3, and the radius of curvature R(I) and the velocity V of the inner curve data extracted during extraction processing P3. Furthermore, the processing device 10 calculates a radius of curvature ratio R(O)jR(I) of the outer curve data and the inner curve data.

[0068] Additionally, during calculation process P4, processing device 10 refers to table T to derive a steering angle ratio θd(O) / θd(I) from the radius of curvature ratio R(O)jR(I). Processing device 10 then multiplies the steering angle detection value θd(I) of the inner curve data by the steering angle ratio θd(O) / θd(I) to convert the steering angle detection value θd(I) of the inner curve data into a steering angle detection value θd(I') that corresponds to the radius of curvature R(O) of the outer curve data. Furthermore, processing device 10 calculates an average value from the steering angle detection value θd(O) of the outer curve data and the converted steering angle detection value θd(I') of the inner curve data as the offset amount θoff.

[0069] The offset amount θoff during calculation processing P4 can be calculated, for example, using representative values ​​of the steering angle detection values ​​θd(O) and θd(I) of the outer and inner curve data. Examples of representative values ​​include the types of steering angle detection values ​​θd(O) and θd(I). Subsequently, processing device 10 performs correction processing P5 to correct the steering angle detection value θd using the calculated offset amount θoff.

[0070] The following describes the operation of the processing device 10 of the present embodiment.

[0071] As in Fig. As illustrated in Figure 4, there is, for example, a high probability that the vehicle departs from a starting point to a destination and returns from the destination along the same curve of the same road to the starting point. In this case, the vehicle travels along similar inner and outer curves with different radii of curvature R(I) and R(O).

[0072] Here, the processing device 10 of the present embodiment extracts, during extraction processing P3, the right-turn data and the left-turn data corresponding to an inner and an outer lane of the same curve, respectively, at the equivalent speed V as the respective outer and inner curve data. Furthermore, the processing device 10 performs the table generation processing P7 to generate a table T that can derive the steering angle ratio θd(O) / ed(I), which is a ratio of the steering angle detection values ​​θd(O) and θd(I) of the outer and inner curve data, from the radius of curvature ratio R(O)jR(I), which is a ratio of the radii of curvature R(O) and R(I) of the inner and outer curve data according to the equivalent speed V.Additionally, during calculation P4, the processing device 10 derives the steering angle ratio θd(O) / θd(I) from the radius of curvature R(O)jR(I) using table T, multiplying the steering angle detection value θd(I) of the inner curve data by the steering angle ratio θd(O) / θd(I) to convert it into the steering angle detection value θd(I'), which corresponds to the radius of curvature R(O) of the outer curve data. Furthermore, during calculation P4, the processing device 10 calculates an average value of the steering angle detection value θd(O) of the outer curve data and the converted steering angle detection value θd(I') of the inner curve data as the offset amount θoff.

[0073] This configuration allows the processing device 10 of the present embodiment to calculate the offset amount θoff using the outer and inner curve data when driving along similar inner and outer curves with different radii of curvature R(I) and R(O). This increases the ability to calculate the offset amount θoff, enabling a more reliable correction of the steering angle detection value θd. Therefore, according to the processing device 10 of the present embodiment, not only can similar effects be obtained as those of the processing device 10 of the first embodiment, but the steering angle detection value θd, which includes the offset amount θoff, can also be corrected more reliably.

[0074] The processing device 10 of the present embodiment repeatedly performs, for example, the recording processing P1, the classification processing P2, and the extraction processing P3 until the number of data pairs of right-turn data and left-turn data with the equivalent velocity V during extraction processing P3 reaches a specified number. Then, when the number of data pairs during extraction processing P3 has reached the specified number, the processing device 10 extracts a data pair with the longest time during which the velocity V or the steering angle detection value θd is maintained at a constant value.

[0075] This configuration allows the processing device 10 of the present embodiment to extract the right-turn and left-turn data of the vehicle, which was driven in a more stable condition, during extraction processing P3. This increases the reliability of table T and the reliability of the offset amount θoff calculated during computation processing P4. [Third embodiment]

[0076] Next, a third embodiment of the processing device according to the present disclosure will be presented with the support of the Fig. 1 and Fig. 2 described. The processing device 10 of the present embodiment differs from the processing device 10 of the first embodiment described above in the processing content during recording processing P1 and extraction processing P3. Because the other configuration of the processing device 10 of the present embodiment is similar to that of the processing device 10 of the first embodiment described above, similar elements are designated with the same reference numerals, and their descriptions are omitted.

[0077] The processing device 10 of the present embodiment further records the vehicle's tire information It during recording processing P1. The tire information It includes elements such as the air pressure P output by the air pressure sensor 6 and the amount of tire wear. It is stated that the amount of tire wear can be calculated using a known method, such as that described in JP 2008-143959 or JP 2019-11048. Additionally, during recording processing P1, the processing device 10 records the vehicle's speed V, steering angle detection value θd, and tire information It as the curve data associated with the direction D and radius of curvature R of the curve.Furthermore, during extraction processing P3, the processing device 10 extracts a right-turn data group and a left-turn data group with the equivalent speed V, the equivalent radius of curvature R and the equivalent tire information It.

[0078] With such a configuration, the processing device 10 of the present embodiment can calculate the offset amount θoff during computation processing P4 using the right-turn and left-turn data, in which the tire information It, including the air pressure P and the amount of tire wear, is equivalent. Accordingly, not only can effects similar to those of the processing device 10 of the first embodiment described above be obtained, but the calculation accuracy of the offset amount θoff can also be increased when supplementing the tire information It. [Fourth embodiment]

[0079] Next, a fourth embodiment of the processing device according to the present disclosure will be presented with the support of the Fig. 1 and Fig. 2 described. The processing device 10 of the present embodiment differs from the processing device 10 of the first embodiment described above in the processing content during recording processing P1 and extraction processing P3. Because the other configuration of the processing device 10 of the present embodiment is similar to that of the processing device 10 of the first embodiment described above, similar elements are designated with the same reference numerals, and their descriptions are omitted.

[0080] In extraction processing P3, the processing device 10 of the present embodiment extracts the right-turn and left-turn data for which the vehicle has driven clockwise and counterclockwise on the same curve of the same route at the same speed V. Such right-turn and left-turn data can be acquired, for example, by driving in opposite directions at the same speed on the same route in a test course where the vehicle knows the radius of curvature R. Furthermore, in computation processing P4, the processing device 10 calculates an average value of the steering angle detection value θd of the right-turn data extracted in extraction processing P3 and the steering angle detection value θd of the left-turn data extracted in extraction processing P3 as the offset amount θoff.

[0081] This configuration not only yields effects similar to those of the first embodiment described above, but also simplifies the calculation performed by the processing device 10. The present embodiment can, for example, be implemented as part of a work process carried out before the vehicle is shipped.

[0082] The embodiments of the processing device according to the present disclosure have been described in detail with reference to the accompanying drawings, but the configuration is not specifically limited to these embodiments, and design changes and the like that do not deviate from the main point of the present disclosure are also included in the present disclosure. Reference symbol list 5 Steering angle sensor 10 Processing device IT tire information P1 Recording Processing P2 Classification Processing P3 Extraction Processing P4 Calculation Processing P5 Correction Processing P7 Table Generation Processing R radius of curvature R(I) radius of curvature P(O) radius of curvature R(O) / R(I) radius of curvature ratio T table V speed θd Steering angle detection value θd(I) Steering angle detection value θd(O) Steering angle detection value θd(O) / θd(I) Steering angle ratio offset amount QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] JP 2018075946 A

[0005] JP 2005115752

[0026] JP 2008

[0077] JP 143959

[0077] JP 2019011048

[0077]

Claims

[1] Processing device which, based on a steering angle detection value of a steering angle sensor which detects a steering angle of a vehicle, calculates an offset amount of the steering angle detection value, wherein the processing device performs the following: a recording processing of the detection of a direction and radius of curvature of a curve in a road on which the vehicle is traveling, a speed and the steering angle detection value of the vehicle and the recording of the speed and steering angle detection value of the vehicle traveling along the curve as curve data that are associated with the direction and radius of curvature of the curve; a classification processing of the curve data into right-hand curve data and left-hand curve data based on the direction; an extraction process of extracting the right curve data and the left curve data that are relevant; a computational processing of the offset amount based on the steering angle detection value of the extracted right-turn data and the steering angle detection value of the extracted left-turn data; and A correction processing of the steering angle detection value based on the offset amount. [2] Processing device according to claim 1, wherein During classification processing, several parts of the right-hand curve data and several parts of the left-hand curve data are classified into several right-hand curve data groups and several left-hand curve data groups based on the speed and the radius of curvature. During the extraction processing, a right-curve data group and a left-curve data group with equivalent velocity and equivalent radius of curvature are extracted, and During the calculation processing, an average value of one type of steering angle detection value of the several parts of the right-turn data that form the extracted right-turn data group, and one type of steering angle detection value of the several parts of the left-turn data that form the extracted left-turn data group, is calculated as the offset amount. [3] Processing device according to claim 1, wherein During the extraction processing, the right-hand curve data and the left-hand curve data corresponding to an inner and outer lane of the same curve at the equivalent speed are extracted as inner curve data and outer curve data, respectively. The processing device further performs a table generation process to generate a table that can derive a steering angle ratio, which is a ratio of the steering angle detection values ​​of the outer curve data and the inner curve data, from a radius of curvature ratio, which is a ratio of the radii of curvature of the outer curve data and the inner curve data, according to the equivalent speed, and During the calculation process, the steering angle ratio is derived from the radius of curvature ratio using the table, the steering angle detection value of the inner curve data is multiplied by the steering angle ratio to convert it into the steering angle detection value corresponding to the radius of curvature of the outer curve data, and an average value of the steering angle detection value of the outer curve data and the converted steering angle detection value of the inner curve data is calculated as the offset amount. [4] Processing device according to claim 2, wherein During the recording processing, tire information of the vehicle is also captured, and the speed, steering angle detection value, and tire information of the vehicle traveling along the curve are recorded as curve data associated with the direction and radius of curvature of the curve. During extraction processing, the right curve data group and the left curve data group, in which the speed, radius of curvature and tire information are equivalent, are extracted. [5] Processing device according to claim 2, wherein, when extracting data group pairs of the multiple right-turn data groups and the multiple left-turn data groups are extracted, the data group pair with the longest time in which the steering angle detection value is constant is extracted from the curve data forming each of the data group pairs. [6] Processing device according to claim 3, wherein the recording processing, the classification processing and the extraction processing are repeatedly performed until, in the extraction processing, a specified number of data pairs of the right turn data and the left turn data is reached at the equivalent speed, wherein, when the specified number of data pairs has been reached in the extraction processing, the data pair with the longest time in which the speed or the steering angle detection value is maintained at a constant value is extracted. [7] Processing device according to claim 1, wherein during recording processing the curve data in which a change in speed or a change in steering angle detection value exceeds a predetermined range are excluded. [8] Processing device according to claim 1, wherein During the extraction processing, the right-turn data and the left-turn data are extracted, where the vehicle has driven clockwise and counterclockwise on the same curve of the same route at the same speed, and During the calculation process, an average value of the steering angle detection value of the extracted right-turn data and the steering angle detection value of the extracted left-turn data is calculated as the offset amount.

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