Steering angular velocity detecting device
First Claim
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1. A steering angular velocity detecting device for vehicle control comprisinga steering angle generating unit for generating a steering angle signal in the shape of stairs depending on changes in steering angle;
- a first steering angular velocity calculating unit for determining the first steering angular velocity by dividing a first changed amount of the steering angle signal during a predetermined time by the predetermined time;
a second steering angular velocity calculating unit for determining;
a) a second changed amount of the steering angle signal at the point in time of a change of the steering angle signal;
b) a difference time by subtracting time at a previous change of the steering angle signal from time at the change of the steering angle signal, and c) a second steering angular velocity by dividing the second changed amount by the difference time; and
a selector for selecting the first steering angular velocity and the second steering angular velocity, wherein, the selector selects the first steering angular velocity, in the case where the first steering angular velocity and/or the second steering angular velocity are larger than a predetermined threshold value.
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Abstract
Operates steering angular velocity in first steering angular velocity calculating unit and second steering angular velocity calculating unit, by using steering angle signal from steering angle generating unit, and outputs steering angular velocity by switching them with reference to a certain threshold value of steering angular velocity.
69 Citations
6 Claims
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1. A steering angular velocity detecting device for vehicle control comprising
a steering angle generating unit for generating a steering angle signal in the shape of stairs depending on changes in steering angle; -
a first steering angular velocity calculating unit for determining the first steering angular velocity by dividing a first changed amount of the steering angle signal during a predetermined time by the predetermined time;
a second steering angular velocity calculating unit for determining;
a) a second changed amount of the steering angle signal at the point in time of a change of the steering angle signal;
b) a difference time by subtracting time at a previous change of the steering angle signal from time at the change of the steering angle signal, and c) a second steering angular velocity by dividing the second changed amount by the difference time; and
a selector for selecting the first steering angular velocity and the second steering angular velocity, wherein, the selector selects the first steering angular velocity, in the case where the first steering angular velocity and/or the second steering angular velocity are larger than a predetermined threshold value. - View Dependent Claims (2, 3, 4, 5, 6)
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Specification