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

摘要

PROBLEM TO BE SOLVED: To provide a turning radius calculating method for easily obtaining a turning radius of a vehicle corresponding to an arbitrary steering angle without actually measuring the turning radius.;SOLUTION: While the steering angle, an outside tire turning angle, and an inside tire turning angle are used as variables, a steering system model is represented by a relational expression including a known parameter and an unknown parameter (S1). Data of the known parameter is input based on design data (S2). The unknown parameter is calculated based on the relational expression corresponding to a zero steering state and a full steering state (S3). The outside tire turning angle and the inside tire turning angle to a plurality of steering angles between the zero steering state and the full steering state are respectively calculated (S4). The turning radius corresponding to the calculated outside tire turning angle and inside tire turning angle is calculated (S5). An approximation function of the turning radius with respect to the steering angle is obtained based on the plurality of steering angles and the turning radius (S6).;COPYRIGHT: (C)2006,JPO&NCIPI