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

has an angle of rotation of the outer and inner tires and steering angle to the variable containing the known parameters and unknown parameters step of expressing a steering system model as a relation, which; Inputting the data of the known parameters based on design data; Calculating the unknown parameters from the relational expressions corresponding to a zero-steering state to the relational expressions corresponding to the full-steering state; Calculating the angle of rotation of each of the outer and inner tires corresponding to the plurality of steering angles between using the relational expression for the calculated image parameter data is input, the zero-steering state and the full-steering state; Calculating turning radii corresponding to the calculated turning angles of the outer and inner tires; And based on a plurality of steering angles and the turning radius turning radius calculation method comprising the step of calculating an approximate function of turning radius for steering angle is disclosed.