JPH01136072A - Rudder angle speed detector - Google Patents
Rudder angle speed detectorInfo
- Publication number
- JPH01136072A JPH01136072A JP29402987A JP29402987A JPH01136072A JP H01136072 A JPH01136072 A JP H01136072A JP 29402987 A JP29402987 A JP 29402987A JP 29402987 A JP29402987 A JP 29402987A JP H01136072 A JPH01136072 A JP H01136072A
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- Prior art keywords
- steering
- angular velocity
- steering angular
- pulses
- measuring section
- Prior art date
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- 238000005259 measurement Methods 0.000 claims abstract description 25
- 238000001514 detection method Methods 0.000 claims abstract description 19
- 230000008034 disappearance Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 8
- 230000000737 periodic effect Effects 0.000 description 5
- 238000000691 measurement method Methods 0.000 description 4
- 238000005070 sampling Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 230000004043 responsiveness Effects 0.000 description 2
- 230000006866 deterioration Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 229920006395 saturated elastomer Polymers 0.000 description 1
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- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
Description
【発明の詳細な説明】
(産業上の利用分野)
本発明はステアリングハンドルの舵角速度を検出する装
置に関するものである。DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a device for detecting the steering angular velocity of a steering wheel.
(従来の技術)
この種舵角速度検出装置は車両の運動性能を向上させる
ために行う4輪操舵技術に有用であるが、通常ステアリ
ングハンドルの操舵を検出するデジタル式操舵センサを
具え、これからのパルスが一定のゲート時間内に何個存
在しているかで舵角速度を計測する周波数計測方式のも
のと、任意個数のパルスが発生してから消失する迄の時
間より舵角速度を計測する周期計測方式のものとが知ら
れている。(Prior art) This type of steering angular velocity detection device is useful for four-wheel steering technology to improve the dynamic performance of a vehicle. One is a frequency measurement method that measures the steering angular velocity based on how many pulses are present within a certain gate time, and the other is a periodic measurement method that measures the steering angular velocity based on the time from when an arbitrary number of pulses are generated until they disappear. things are known.
(発明が解決しようとする問題点)
しかして前者の周波数計測式の舵角速度検出装置は、低
舵角速度で検出値の分解能が低く、検出精度が悪くなる
のを避けられなかった。(Problems to be Solved by the Invention) However, the former frequency measurement type steering angular velocity detection device has a low resolution of the detected value at low steering angular velocities, and cannot avoid deterioration in detection accuracy.
例えばゲート時間を5 m5ecとし、操舵センサの分
解能を1度とすると、舵角速度の分解能は200度/s
ecとなり、中速操舵以上しか計測できず、舵角速度の
低い間は舵角速度を0と検出してしまう。かと言ってこ
の問題解決のためサンプリング周期を長くすると、舵角
速度の計測に応答遅れを生じ、計測値が現在の舵角速度
と合わないおそれがある。又、第5図及び第8図に示す
ような比較的ゆっくりした操舵速度においてα、βで示
す如き不用意な舵角速度を検出し、4輪氏舵車を一瞬横
移動させるような不具合を生ずる。For example, if the gate time is 5 m5ec and the resolution of the steering sensor is 1 degree, the resolution of the steering angular velocity is 200 degrees/s.
ec, it is possible to measure only medium-speed steering or higher, and the steering angular speed is detected as 0 while the steering angular speed is low. However, if the sampling period is lengthened to solve this problem, there will be a response delay in measuring the steering angular velocity, and there is a risk that the measured value will not match the current steering angular velocity. Furthermore, at relatively slow steering speeds as shown in Figs. 5 and 8, inadvertent steering angular velocities as shown by α and β are detected, causing a malfunction in which the four-wheeled steering wheel momentarily moves sideways. .
他方、後者の周期計測方式の舵角速度検出装置では逆に
高舵角速度において検出値の分解能が悪くなるのを避け
られなかった。On the other hand, in the latter periodic measurement type steering angular velocity detection device, conversely, the resolution of the detected value deteriorates at high steering angular velocities.
例えば、サンプリング周期をl m5ecとし、操舵セ
ンサの分解能を1度とすると、舵角速度の分解能は10
00度/secであるが、高速操舵によりサンプリング
周期が2m5ec、2.5 m5ecと長くなるにつれ
、舵角速度の分解能は500度/sec 、333度/
secの如く悪化する。For example, if the sampling period is l m5ec and the resolution of the steering sensor is 1 degree, the resolution of the steering angular velocity is 10
00 degrees/sec, but as the sampling period becomes longer to 2 m5ec and 2.5 m5ec due to high-speed steering, the resolution of the steering angular velocity increases to 500 degrees/sec and 333 degrees/sec.
It gets worse like sec.
(問題点を解決するための手段)
本発明は上述の実情に鑑み、高舵角速度では周波数計測
により、又低舵角速度では周期計測により舵角速度を検
出するようにして上記の問題を解決しようとするもので
、ステアリングハンドルの操舵を検出するデジタル式操
舵センサからのパルスを基にステアリングハンドルの舵
角速度を検出するための装置において、一定のゲート時
間内における前記パルスの個数から舵角速度を計測する
周波数計測部と、任意個数の前記パルスが発生してから
消失する迄の時間より舵角速度を計測する周期計測部と
、これら両針測部のうち少な(とも一方で計測した舵角
速度が設定値以上の時周波数計測部からの舵角速度を、
又設定値未満の時開11JI計測部からの舵角速度を検
出値として出力する切換部とを設けた構成に特徴づけら
れる。(Means for Solving the Problems) In view of the above-mentioned circumstances, the present invention attempts to solve the above problems by detecting the rudder angular velocity by frequency measurement at high rudder angular velocities and by periodic measurement at low rudder angular velocities. A device for detecting the steering angular velocity of a steering wheel based on pulses from a digital steering sensor that detects steering of the steering wheel, which measures the steering angular velocity from the number of pulses within a certain gate time. A frequency measurement section, a period measurement section that measures the steering angular velocity based on the time from when an arbitrary number of pulses are generated until they disappear; The steering angular velocity from the above time frequency measuring section is
Furthermore, the present invention is characterized by a configuration that includes a switching section that outputs the steering angular velocity from the time-opening 11JI measurement section that is less than the set value as a detected value.
(作 用)
デジタル式操舵センサはステアリング、ハンドルの操作
を検出し、一定の微少操舵角毎にパルスを出力する。周
波数計測部は一定のゲート時間内における上記パルスの
個数から舵角速度を計測し、周期計測部は任意個数のパ
ルスが発生してから、消失する迄の時間より舵角速度を
計測する。・切換部はこれら計測部のうし少なくとも一
方で計測した舵角速度が設定値以上の高舵角速度域にお
いては周波数計測部で計測した舵角速度を、又設定値未
満の低舵角速度域においては周期計測部で計測した舵角
速度を検出値として出力する。(Operation) The digital steering sensor detects steering and steering wheel operations and outputs a pulse at every constant minute steering angle. The frequency measuring section measures the steering angular velocity from the number of pulses within a certain gate time, and the period measuring section measures the steering angular velocity from the time from when an arbitrary number of pulses are generated until they disappear.・The switching unit measures the steering angular velocity measured by the frequency measurement unit in the high steering angular velocity range where the steering angular velocity measured by at least one of these measurement units is above the set value, and periodic measurement in the low steering angular velocity range below the set value. The rudder angular velocity measured by the section is output as a detected value.
かくて高舵角速度域においては周波数計測により、又低
舵角速度域においては周期計測により舵角速度を計測し
、舵角速度域毎に得意な計測方式を切換え使用して舵角
速度を検出することとなり、全領域に亘り前記各種の問
題を生ずることなく正確な舵角速度を検出することがで
きる。In this way, the rudder angular velocity is measured by frequency measurement in the high rudder angular velocity range, and by periodic measurement in the low rudder angular velocity range, and the rudder angular velocity is detected by switching and using the measurement method that is suitable for each rudder angular velocity range. It is possible to accurately detect the steering angular velocity over the entire range without causing the various problems described above.
(実施例) 以下、本発明の実施例を図面に基づき詳細に説明する。(Example) Hereinafter, embodiments of the present invention will be described in detail based on the drawings.
第1図は本発明舵角検出装置の一実施例で、1はデジタ
ル式操舵センサを示し、このセンサは図示せざるステア
リングハンドルの操作中電磁検出又は光電検出により一
定の微少操舵角毎にパルスを出力する。なお、ステアリ
ングハンドルの一方向の操作中は正極性のパルスが出力
され、逆方向の操作中は負極性のパルスが出力されるも
のとし、従ってパルスの合算により中立位置からのステ
アリングハンドルの操舵角を知ることができる。FIG. 1 shows an embodiment of the steering angle detecting device of the present invention, and numeral 1 indicates a digital steering sensor, which generates pulses at every constant minute steering angle by electromagnetic detection or photoelectric detection during operation of a steering wheel (not shown). Output. Note that when the steering wheel is operated in one direction, pulses of positive polarity are output, and when the steering wheel is operated in the opposite direction, pulses of negative polarity are output. Therefore, the steering angle of the steering wheel from the neutral position is determined by adding up the pulses. can be known.
操舵センサ1からのパルスは周波数計測部2及び周期計
測部3に夫々入力する。Pulses from the steering sensor 1 are input to a frequency measuring section 2 and a period measuring section 3, respectively.
周波数計測部2は、第2図に示すように一定のゲート時
間ΔT内における操舵センサ出力(パルス)の個数、つ
まりステアリングハンドルの操舵角変化量Δθをカウン
トし、この操舵角変化量Δθをゲート時間ΔTで除して
舵角速度δ、=Δθ/ΔTを演算する。しかしてこの演
算は分母が定数ΔTであるから、実際にはl/ΔTに対
応する定数をΔθに乗する掛は算により行って割り算を
避け、演算時間を短縮する。As shown in FIG. 2, the frequency measurement unit 2 counts the number of steering sensor outputs (pulses) within a certain gate time ΔT, that is, the amount of change in steering angle Δθ of the steering wheel, and calculates this amount of change in steering angle Δθ as a gate. The steering angular velocity δ, = Δθ/ΔT, is calculated by dividing by the time ΔT. However, since the denominator in this operation is the constant ΔT, in reality, multiplying Δθ by the constant corresponding to l/ΔT is performed by arithmetic operation to avoid division and shorten the calculation time.
周期計測部3は第3図の原理に基づき舵角速度δ7を計
測する。つまり周期計測部3の演算サイクルが第3図中
ΔTの如きものであり、ステアリングハンドル操舵角θ
が同図の如きものであるとすると、演算サイクル毎にお
ける瞬時L0〜t1間の舵角速度δ。は以下の如くに求
まる。即ち、対応するパルス入力瞬時り。Zj、l と
のずれ時間a(++al と演算サイクルΔ′Fとから
瞬時t 01〜t 、 7間の時間ΔT、をΔT、=Δ
T + a 6−81により求め、この間の操舵角変化
量Δθ。をΔT、=ΔT+aOalにより除して舵角速
度δ。−Δθ。/ΔT +a o a +を求め、周
期計測部3はこれをδ7として出力する。次のし1〜L
2間における演算サイクルΔTの舵角速度θ1も同様に
して
の演算により求め、これをδ7として出力する。The period measuring section 3 measures the steering angular velocity δ7 based on the principle shown in FIG. In other words, the calculation cycle of the period measuring section 3 is as shown in ΔT in FIG. 3, and the steering wheel steering angle θ
Assuming that is as shown in the figure, the steering angular velocity δ between instants L0 and t1 in each calculation cycle. is found as follows. That is, the corresponding pulse input instant. The time ΔT between instants t01 and t,7 from the time difference a(++al) and the calculation cycle Δ′F with Zj,l is defined as ΔT,=Δ
T + a 6-81, and the amount of change in steering angle Δθ during this period. is divided by ΔT,=ΔT+aOal to obtain the steering angular velocity δ. −Δθ. /ΔT +a o a + is obtained, and the period measuring section 3 outputs this as δ7. Next 1~L
The steering angular velocity θ1 of the calculation cycle ΔT between 2 and 2 is calculated in the same way, and is output as δ7.
具体的には、操舵角θが第4図の如きものであるとする
と、周期計測部3は内蔵周期カウンタ(図示せず)によ
り瞬時L0〜L6から直前のパルス入力瞬時迄の時間の
ずれa0〜a6を同図に示す如くに計測する。周期計測
部3は更に、各演算サイクル毎に操舵角変化量Δθう〜
Δθ6を求め、舵角速度
これらを順次δ7として出力する。Specifically, assuming that the steering angle θ is as shown in FIG. 4, the period measuring section 3 uses a built-in period counter (not shown) to calculate the time deviation a0 from instants L0 to L6 to the immediately preceding pulse input instant. ~a6 is measured as shown in the figure. The period measurement unit 3 further calculates the amount of change in steering angle Δθ for each calculation cycle.
Δθ6 is determined, and these steering angular velocities are sequentially output as δ7.
なお、上記周期カウンタは成る値で飽和させるが、飽和
値を大きくすることにより低舵角速度での分解能が向上
する。又、演算サイクルΔTを小さくすることで、高速
操舵中における舵角速度の検出応答性を良好なものとす
ることができる。Note that although the period counter is saturated at a value equal to 1, the resolution at low steering angular speeds is improved by increasing the saturation value. Further, by reducing the calculation cycle ΔT, it is possible to improve the detection responsiveness of the steering angular velocity during high-speed steering.
第5図は低速操舵時における周期計測部3の舵角速度計
測作用を示す。但し、このように低速操舵故に操舵角変
化量ΔθがOの時は、ずれ時間aを周期カウンタから読
込まず、前回値ai−1に演算サイクル八Tを加算した
値a、==3.−.+ΔTとし、又前回値a i−1が
設定値より大きい時は舵Δ 1−a 1
時はδ=0とする)の演算により求める。これにより低
速操舵時の舵角速度δ1は第5図に示す如きものとなり
、従来生じていた不用意な舵角速度α、βの検出を防止
することができる。FIG. 5 shows the steering angular velocity measuring action of the period measuring section 3 during low-speed steering. However, when the steering angle change amount Δθ is O due to low-speed steering as described above, the deviation time a is not read from the period counter, and the value a, which is the sum of the calculation cycle 8T to the previous value ai-1, is calculated as ==3. −. +ΔT, and when the previous value a i−1 is larger than the set value, the rudder Δ 1−a 1 is determined by the calculation of δ=0. As a result, the steering angular velocity δ1 during low-speed steering becomes as shown in FIG. 5, and it is possible to prevent the inadvertent detection of the steering angular velocities α and β, which has conventionally occurred.
周波数計測部2及び周期計測部3は夫々前記の如(に求
めた舵角速度δ1.δ1を電圧信号として切換部4に人
力する。この切換部は常態で接点4aを図示位置にして
δ7を舵角速度検出値δとし、コイル4bのON時接点
4aを切換えてδ。The frequency measuring section 2 and the period measuring section 3 each manually input the steering angular velocity δ1. The detected angular velocity value is δ, and when the coil 4b is ON, the contact 4a is switched to δ.
を舵角速度検出値δとする。Let be the detected steering angular velocity value δ.
コイル4bのON、OFFを比較器5により制御し、こ
の比較器は、操舵周波数f(舵角速度)に対し第6図の
如くに変化する電圧at (舵角速度)が操舵周波数
f、に対応した基準舵角速度θ。ON/OFF of the coil 4b is controlled by a comparator 5, and this comparator detects that the voltage at (steering angular speed), which changes as shown in FIG. 6 with respect to the steering frequency f (steering angular speed), corresponds to the steering frequency f. Reference steering angular speed θ.
に対応した値以上である間コイル4bをONするものと
する。従って舵角速度検出値θは、δfくδ1の低速操
舵中周期計測部3で計測した舵角速度δ1を選択し、δ
、≧δ、の高速操舵中周波数計測部2で計測した舵角速
度δ、を選択することとなる。これがため舵角速度域毎
に得意なa11方式を切換え使用することとなり、全領
域に亘り前記各種の問題を生ずることなく、つまり低速
操舵で検出値の分解能が悪くなったり、逆に高速操舵で
検出値の分解能が悪くなったりする問題を生ずることな
なく、正確に舵角速度を検出することができる。It is assumed that the coil 4b is turned on while the value is greater than or equal to the value corresponding to . Therefore, the steering angular velocity detection value θ is determined by selecting the steering angular velocity δ1 measured by the low-speed steering period measurement unit 3 of δf×δ1, and δ
, ≧δ, the steering angular velocity δ measured by the frequency measuring unit 2 during high-speed steering is selected. For this reason, it is necessary to switch and use the A11 method, which is good at each steering angular velocity range, without causing the various problems mentioned above over the entire range.In other words, the resolution of the detected value becomes poor with low-speed steering, and conversely, the detection value with high-speed steering can be used. It is possible to accurately detect the steering angular velocity without causing problems such as poor resolution of values.
なお上記の基準舵角速度δ、は、周波数計測及び周期計
測のいずれで測定しても舵角速度計測値δf+OTがほ
ぼ同じになる時のδをδ、と設定するのが良いことは言
うまでもない。It goes without saying that the above reference steering angular velocity δ is preferably set to δ when the measured steering angular velocity value δf+OT is almost the same regardless of whether it is measured by frequency measurement or period measurement.
ところで前記した周期計測方式では、第4図に示すδ、
の演算式において分母が変数であるため、割り算を必要
として演算時間が長くなり、応答性の悪化が懸念される
。この問題解決のため周期計測に当っては以下の方式を
採用することもできる。By the way, in the period measurement method described above, δ, as shown in FIG.
Since the denominator in the arithmetic expression is a variable, division is required, which increases the computation time and there is concern that responsiveness may deteriorate. To solve this problem, the following method can also be adopted for period measurement.
即ら、第4図から明らかなδ。の一般式前記した周波数
計測結果と同じであり、低速操舵中において前述の問題
を生ずる。従って高速操舵中は上記の如くに近似させる
が、低速操舵中は第7図に示す如く瞬時t1からのずれ
時間a0が演算サイクルΔTより長くなることから、こ
の場合求める。That is, δ which is clear from FIG. The general formula is the same as the above frequency measurement result, and the above-mentioned problem occurs during low-speed steering. Therefore, during high-speed steering, the approximation is made as described above, but during low-speed steering, the deviation time a0 from the instant t1 becomes longer than the calculation cycle ΔT, as shown in FIG. 7, so it is determined in this case.
この原理によれば、第5図と同じ態様で低速操舵した時
の波形を示す第8図から明らかなように、舵角速度の1
が実線で示す如きものとなり、点線で示した第5図の計
測結果との比較から明らかな如く分解能の向上を望めな
いが、分母が一定のΔTとなって割り算の代りに掛は算
を採用することができ、演算時間が長くなるのを防止し
得る。又、−点鎖線で示す如〈従来生じていた不用意な
舵角速度α、βの検出を回避することができる。According to this principle, as is clear from FIG. 8, which shows the waveform when low-speed steering is performed in the same manner as in FIG.
is as shown by the solid line, and as is clear from the comparison with the measurement results in Figure 5 shown by the dotted line, no improvement in resolution can be expected, but the denominator becomes a constant ΔT and multiplication is used instead of division. This can prevent the calculation time from increasing. Furthermore, as shown by the dashed line, it is possible to avoid the inadvertent detection of the steering angular velocities α and β, which conventionally occurred.
(発明の効果)
かくして本発明舵角検出装置は上述の如く、周波数計測
した舵角速度δ、と周期計測した舵角速度OTとを舵角
速度に応じて使い分けるよう構成したから、全ての舵角
速度領域において正確に舵角速度を検出することができ
ると共に、低速操舵中において不用意な舵角速度α、β
の検出をなくすことができる。(Effects of the Invention) As described above, the rudder angle detection device of the present invention is configured to use the frequency-measured rudder angular velocity δ and the periodically measured rudder angular velocity OT depending on the rudder angular velocity. It is possible to accurately detect the steering angular speed, and also prevent careless steering angular speeds α and β during low-speed steering.
detection can be eliminated.
第1図は本発明舵角速度検出装置の一実施例を示すシス
テム図、
第2図は同装置における周波数計測部の動作波形図、
第3図は同装置における周期計測部の動作原理図、
第4図は同じくその動作波形図、
第5図は同じくその低速操舵時における動作波形図、
第6図は本発明装置の動作領域線図、
第7図は周期計測部の他の例を示す動作原理図、第8図
は同じくその低速操舵時における動作波形図である。
1・・・操舵センサ 2・・・周波数計測部3・
・・周期計測部 4・・・切換部5・・・比較器
特許出願人 日産自動車株式会社
第1図
第2図
第3図
第6図
第7図
eFig. 1 is a system diagram showing one embodiment of the steering angular velocity detection device of the present invention; Fig. 2 is an operating waveform diagram of the frequency measuring section in the same device; Fig. 3 is a diagram of the operating principle of the period measuring section in the same device; FIG. 4 is a diagram of its operating waveforms, FIG. 5 is a diagram of its operating waveforms during low-speed steering, FIG. 6 is a diagram of the operating range of the device of the present invention, and FIG. 7 is an operation showing another example of the period measuring section. The principle diagram and FIG. 8 are also operational waveform diagrams during low-speed steering. 1... Steering sensor 2... Frequency measurement section 3.
...Period measurement section 4...Switching section 5...Comparator Patent applicant Nissan Motor Co., Ltd. Figure 1 Figure 2 Figure 3 Figure 6 Figure 7 e
Claims (1)
操舵センサからのパルスを基にステアリングハンドルの
舵角速度を検出するための装置において、 一定のゲート時間内における前記パルスの個数から舵角
速度を計測する周波数計測部と、 任意個数の前記パルスが発生してから消失する迄の時間
より舵角速度を計測する周期計測部と、これら両計測部
のうち少なくとも一方で計測した舵角速度が設定値以上
の時周波数計測部からの舵角速度を、又設定値未満の時
周期計測部からの舵角速度を検出値として出力する切換
部と を設けてなることを特徴とする舵角速度検出装置。 2、周期計測部は、高舵角速度中一定のゲート時間内に
おける前記パルスの個数から舵角速度を計測し、低舵角
速度中上記個数から1を減じたパルス数が前記一定のゲ
ート時間内に存在すると見做して近似的に舵角速度を計
測するものである特許請求の範囲第1項記載の舵角速度
検出装置。[Scope of Claims] 1. In a device for detecting the steering angular velocity of a steering wheel based on pulses from a digital steering sensor that detects steering of the steering wheel, the steering angle speed is determined based on the number of pulses within a certain gate time. A frequency measuring section that measures the angular velocity; a period measuring section that measures the steering angular velocity based on the time from when an arbitrary number of the pulses are generated until they disappear; and the steering angular velocity measured by at least one of these two measuring sections is set. A steering angular velocity detection device comprising: a switching section that outputs, as a detected value, a steering angular velocity from a time frequency measuring section that is equal to or greater than a set value, and a steering angular velocity from a time period measuring section that is less than a set value. 2. The period measurement unit measures the steering angular velocity from the number of pulses within a certain gate time during high steering angular speed, and the number of pulses obtained by subtracting 1 from the above number during low steering angular speed exists within the certain gate time. The steering angular velocity detection device according to claim 1, which measures the steering angular velocity approximately by taking this into account.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP29402987A JPH01136072A (en) | 1987-11-24 | 1987-11-24 | Rudder angle speed detector |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP29402987A JPH01136072A (en) | 1987-11-24 | 1987-11-24 | Rudder angle speed detector |
Publications (1)
Publication Number | Publication Date |
---|---|
JPH01136072A true JPH01136072A (en) | 1989-05-29 |
Family
ID=17802341
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP29402987A Pending JPH01136072A (en) | 1987-11-24 | 1987-11-24 | Rudder angle speed detector |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPH01136072A (en) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2005134380A (en) * | 2003-10-10 | 2005-05-26 | Matsushita Electric Ind Co Ltd | Steering angle speed calculation device |
JP2006133107A (en) * | 2004-11-08 | 2006-05-25 | Matsushita Electric Ind Co Ltd | Steering angle speed calculation device |
-
1987
- 1987-11-24 JP JP29402987A patent/JPH01136072A/en active Pending
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2005134380A (en) * | 2003-10-10 | 2005-05-26 | Matsushita Electric Ind Co Ltd | Steering angle speed calculation device |
JP2006133107A (en) * | 2004-11-08 | 2006-05-25 | Matsushita Electric Ind Co Ltd | Steering angle speed calculation device |
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