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

A technology of turning radius and calculation method, applied in steering mechanism, vehicle components, transportation and packaging, etc., can solve problems such as labor and trouble

Inactive Publication Date: 2006-06-14
TOYOTA IND CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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

Method used

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

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Embodiment Construction

[0022] Hereinafter, embodiments of the present invention will be described based on the drawings.

[0023] figure 1 A flow chart of the turning radius calculation method according to this embodiment is shown. First, in step S1, a steering system model is constructed using predetermined pieces of vehicle design data. This embodiment handles the figure 2 The steering system model is shown.

[0024] refer to figure 2 , AB represents the rocker that turns with the tires around point A (kingpin), DE represents the rocker that turns with the tires around point D (kingpin), and CF represents the rack that moves laterally according to the steering wheel's steering , BC indicates the tie rod connected to the rocker arm and the rack, EF indicates the tie rod connected to the rocker arm and the rack, H indicates the position of the rack, J indicates the length of the rocker arm, and K indicates the length of the tie rod , 2L represents the length of the rack, 2M represents the dis...

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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 parameters 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.

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...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60R21/00B62D15/02B60R1/00B60W40/10H04N7/18
CPCB62D15/021B62D15/0225B62D15/024B62D15/0275
Inventor 岛崎和典
Owner TOYOTA IND CORP
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