Turning radius calculation method, steering assistance apparatus and parking assistance apparatus employing the turning radius calculation method, turning radius calculation program, and recording medium
First Claim
1. A turning radius calculation method comprising the steps of:
- formulating relational expressions having a steering angle and turning angles of outer and inner tires as variables and including known parameters and unknown parameters by constructing a steering system model;
applying data on the known parameters based on design data to the relational expressions;
calculating values of the unknown parameters from conditional expressions obtained by applying values of the variables corresponding to a zero-steering state to the relational expressions and from conditional expressions obtained by applying values of the variables corresponding to a full-steering state to the relational expressions;
calculating turning angles of the outer and inner tires corresponding to a plurality of steering angles obtained by dividing a range between the zero-steering state and the full-steering state, respectively, by using the relational expressions to which the values of the unknown parameters are applied;
calculating turning radii corresponding to the steering angles from the calculated turning angles of the outer and inner wheels; and
calculating an approximate function of turning radius for steering angle based on the plurality of steering angles and the turning radii corresponding to the plurality of steering angles.
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Abstract
Disclosed is a turning radius calculation method including: expressing a steering system model by means of relational expressions having a steering angle and turning angles of outer and inner tires as variables and including known parameters and unknown parameters; entering data on the known parameters based on design data; calculating the unknown parameter from the relational expressions corresponding to a zero-steering state and the relational expressions corresponding to a full-steering state; calculating turning angles of outer and inner tires respectively corresponding to a plurality of steering angles between the zero-steering state and the full-steering state using the relational expressions where calculated data on the unknown parameters are entered; calculating turning radii corresponding to the calculated turning angles of the outer and inner tires; and calculating an approximate function of turning radius for steering angle based on the plurality of steering angles and the turning radii.
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Citations
14 Claims
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1. A turning radius calculation method comprising the steps of:
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formulating relational expressions having a steering angle and turning angles of outer and inner tires as variables and including known parameters and unknown parameters by constructing a steering system model;
applying data on the known parameters based on design data to the relational expressions;
calculating values of the unknown parameters from conditional expressions obtained by applying values of the variables corresponding to a zero-steering state to the relational expressions and from conditional expressions obtained by applying values of the variables corresponding to a full-steering state to the relational expressions;
calculating turning angles of the outer and inner tires corresponding to a plurality of steering angles obtained by dividing a range between the zero-steering state and the full-steering state, respectively, by using the relational expressions to which the values of the unknown parameters are applied;
calculating turning radii corresponding to the steering angles from the calculated turning angles of the outer and inner wheels; and
calculating an approximate function of turning radius for steering angle based on the plurality of steering angles and the turning radii corresponding to the plurality of steering angles. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A turning radius calculation program comprising relational expressions formulated from a steering system model, the relational expressions having a steering angle and turning angles of outer and inner tires as variables and including known parameters and unknown parameters, the program causing a computer to execute the steps of:
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reading data on the known parameters based on design data on a vehicle;
calculating values of the unknown parameters from conditional expressions obtained by applying values of the variables corresponding to a zero-steering state to the relational expressions and from conditional expressions obtained by applying values of the variables corresponding to a full-steering state to the relational expressions;
calculating a plurality of steering angles and turning angles of the outer and inner tires corresponding to the plurality of steering angles between the zero-steering state and the full-steering state, respectively, by using the relational expressions to which the values of the unknown parameters are applied;
calculating turning radii corresponding to the steering angles from the calculated turning angles of the outer and inner wheels; and
calculating an approximate function of turning radius for steering angle based on the plurality of steering angles and the turning radii corresponding to the plurality of steering angles. - View Dependent Claims (11, 12, 13, 14)
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Specification