The present disclosure relates to processing apparatus.
Background technology
[0002]
Conventionally, an invention related to a neutral point detection device applied to a steering control system is known (see Patent Document 1 below). The neutral point detection device described in Patent Document 1 is a steering control system that is mounted on a vehicle, obtains a steering angle of a steering device of the vehicle as a detected value by a steering angle sensor, and controls the steering device based on the detected value. Applies to This conventional neutral point detection device includes a straight line determination section, a straight line determination section, a steering angle acquisition section, and a detection section (see the same document, abstract, claim 1, paragraph 0008, etc.).
[0003]
The straight line determination unit determines whether the road on which the vehicle travels is straight. The straight-ahead determining unit determines whether the vehicle is traveling straight along the road. The steering angle acquisition section acquires a detection value of the steering angle sensor. When the straight line determination unit determines that the road is straight and the straight determination unit determines that the vehicle is traveling straight along the road, the detection unit detects the steering angle A neutral point of the steering angle sensor is detected based on the detection value acquired by the acquisition unit.
[0004]
With the above configuration, the neutral point of the steering angle sensor is determined when the road is straight, so it is possible to accurately determine whether the vehicle is traveling straight along the road. Since the neutral point of the steering angle sensor is determined when the vehicle is traveling straight along the road, the neutral point of the steering angle sensor is determined when the vehicle is traveling without steering operation. It can be performed. Therefore, the neutral point of the steering angle sensor can be obtained with higher accuracy (see paragraph 0009 of the same document).
prior art documents
patent literature
[0005]
Patent Document 1: JP 2018-075946 A
SUMMARY OF THE INVENTION
Problems to be Solved by the Invention
[0006]
The steering angle detection value of the steering angle sensor that detects the steering angle of the steering may include an offset amount. The offset amount is the error between the steering angle (0 degrees) at the steering neutral position and the steering angle detection value. Such errors are caused, for example, by vehicle assembly processes and aged deterioration, and affect automatic driving and advanced driving assistance of vehicles. Therefore, it is necessary to calculate the offset amount included in the steering angle detection value and correct the steering angle detection value.
[0007]
However, the conventional neutral point detection device cannot calculate the offset amount included in the steering angle detection value of the steering angle sensor. For example, some vehicles have a lot of steering play. More specifically, for example, in a large vehicle such as a truck, the angle of the dead zone of the steering force until the operation from the neutral position of the steering is reflected in the steering of the steered wheels is about 10 degrees to 20 degrees. Sometimes. The vehicle runs straight without turning even when the steering wheel is operated within the dead zone of the steering force from the neutral position.
[0008]
The detection unit of the conventional neutral point detection device detects the neutral point of the steering angle sensor based on the detection value obtained by the steering angle obtaining unit when it is determined that the vehicle is traveling straight along the road. do. Therefore, the detection unit of the above conventional neutral point detection device detects the neutral position of the steering angle sensor when the steering of the vehicle is operated within the steering force dead zone range of about 10 degrees to 20 degrees from the neutral position. There is a risk of detecting points. In this case, the steering angle sensor outputs an angle detection value including an offset amount of about 10 degrees to 20 degrees.
[0009]
The present disclosure is a processing device capable of calculating an offset amount of a steering angle detection value based on a steering angle detection value of a steering angle sensor that detects a steering angle of a vehicle, and correcting the steering angle detection value. I will provide a.
Means to solve problems
[0010]
One aspect of the present disclosure is a processing device that calculates an offset amount of the steering angle detection value based on the steering angle detection value of a steering angle sensor that detects the steering angle of the steering of the vehicle. The direction and radius of curvature of a road curve and the speed and steering angle detection value of the vehicle are obtained, and the speed and the steering angle detection value of the vehicle running on the curve are used as the direction and radius of curvature of the curve. a recording process for recording the curve data in association with each other; a classification process for classifying the curve data into right curve data and left curve data based on the direction; and extracting the related right curve data and left curve data. an extraction process, a calculation process of calculating the offset amount based on the extracted steering angle detection value of the right curve data and the extracted steering angle detection value of the left curve data; and the offset amount. and a correction process for correcting the steering angle detection value based on.
The invention's effect
[0011]
According to the above aspect of the present disclosure, the steering angle detection value is corrected by calculating the offset amount of the steering angle detection value based on the steering angle detection value of the steering angle sensor that detects the steering angle of the steering of the vehicle. It is possible to provide a processing apparatus capable of
Brief description of the drawing
[0012]
1 is a block diagram showing Embodiment 1 of a processing device according to the present disclosure; FIG.
2 is a flow chart showing the flow of processing by the processing apparatus of FIG. 1; FIG.
3 is a flowchart showing the flow of processing by the second embodiment of the processing device according to the present disclosure; FIG.
4 is a plan view of a curve of a road for explaining the extraction processing shown in FIG. 3; FIG.
5 is a data flow diagram illustrating table creation processing shown in FIG. 3; FIG.
6 is a data flow diagram for explaining the calculation processing shown in FIG. 3; FIG.
MODE FOR CARRYING OUT THE INVENTION
[0013]
Hereinafter, embodiments of the processing apparatus according to the present disclosure will be described with reference to the drawings.
[0014]
[Embodiment 1]
FIG. 1 is a block diagram showing Embodiment 1 of the processing device according to the present disclosure. The processing device 10 of the present embodiment constitutes, for example, a control device mounted on a vehicle or a part thereof. More specifically, processing unit 10 is, for example, a central processing unit (CPU) 11 alone, or a microcontroller or firmware that includes CPU 11 . A “vehicle” in the following description is a vehicle in which the processing device 10 is mounted, unless otherwise specified.
[0015]
In the example shown in FIG. 1, the processing device 10 includes a CPU 11 and a memory 12 such as ROM or flash memory. Also, although illustration is omitted, the processing device 10 includes, for example, a program stored in the memory 12, a timer, and an input/output unit for communicating with external equipment.
[0016]
For example, the processing device 10 is connected to various sensors, control devices, actuators, etc. mounted on the vehicle via an input/output unit. In the example shown in FIG. 1, the processing device 10 is connected to, for example, a road information output device 1, a position sensor 2, a speed sensor 3, an acceleration sensor 4, a steering angle sensor 5, and an air pressure sensor 6. there is
[0017]
The road information output device 1 outputs to the processing device 10 road information Ir, which is information about the road on which the vehicle equipped with the processing device 10 travels. The road information output device 1 is, for example, an information processing device including a storage device storing road information Ir. The road information Ir includes, for example, road shape such as curves and intersections, road width, lane information, driving route, curve direction D, curvature radius R, and the like. Note that the road information output device 1 may be, for example, an imaging device such as a stereo camera that captures a road in front of the vehicle and outputs the road information Ir.
[0018]
The position sensor 2 is configured by a satellite positioning system such as a global positioning satellite system (GNSS), for example, and outputs vehicle position information Ip to the processing device 10 . The speed sensor 3 calculates the speed V of the vehicle by, for example, measuring the rotational speed of the wheels of the vehicle, and outputs the calculated speed V to the processing device 10 . The acceleration sensor 4 measures the longitudinal and lateral accelerations α of the vehicle and outputs them to the processing device 10 .
[0019]
The steering angle sensor 5 detects, for example, the steering angle θ of the steering wheel of the vehicle and outputs the steering angle detection value θd to the processing device 10 . When the steering angle detection value θd does not include the offset amount, the steering angle sensor 5 outputs 0 degrees as the steering angle detection value θd when the steering wheel is held in the neutral position. Further, the steering angle sensor 5 outputs a positive steering angle detection value θd when the steering wheel is rotated rightward from the neutral position, and outputs a negative steering angle detection value θd when the steering wheel is rotated leftward from the neutral position. do.
[0020]
The air pressure sensor 6 measures the tire air pressure P of the vehicle and outputs it to the processing device 10 . Note that in the present embodiment, various sensors connected to the processing device 10 are examples, and can be added or omitted. For example, in this embodiment, the air pressure sensor 6 can be omitted. Also, either one of the position sensor 2 and the acceleration sensor 4 can be omitted.
[0021]
FIG. 2 is a flowchart showing the flow of processing by the processing device 10 of FIG. The processing device 10 of the present embodiment executes each process shown in FIG. is calculated, and the steering angle detection value θd is corrected. Here, the offset amount is the amount of deviation between the steering angle θ (0 degrees) at the neutral position of the steering and the steering angle detection value θd.
[0022]
As shown in FIG. 2, the processing device 10 executes a recording process P1, a classification process P2, an extraction process P3, a calculation process P4, and a correction process P5. In other words, the processing device 10 has a recording function, a classification function, an extraction function, a calculation function, and a correction function. Each of these processes or functions can be realized, for example, by causing the CPU 11 to execute a program stored in the memory 12 shown in FIG. Each process shown in FIG. 2 will be described in detail below.
[0023]
When starting the processing shown in FIG. 2, the processing device 10 first executes the recording processing P1. In the recording process P1, the processing device 10 executes the following processes, for example. By acquiring road information Ir from the road information output device 1, for example, the processing device 10 acquires the curve direction D and the curvature radius R of the road on which the vehicle travels.
[0024]
Also, the processing device 10 determines whether the vehicle is traveling on a curve based on the road information Ir obtained from the road information output device 1 and the position information Ip obtained from the position sensor 2, for example. For example, instead of acquiring the position information Ip from the position sensor 2, the processing device 10 acquires the acceleration α in the longitudinal direction and the lateral direction of the vehicle from the acceleration sensor 4, and the vehicle travels around the curve based on the acceleration α. It may be determined whether or not
[0025]
When the processing device 10 determines that the vehicle is not traveling on a curve, for example, it repeatedly executes the processing of acquiring the position information Ip at a predetermined cycle. For example, when the processing device 10 determines that the vehicle is traveling on a curve, the processing device 10 acquires the vehicle speed V from the speed sensor 3 and acquires the steering angle detection value θd from the steering angle sensor 5 . Furthermore, the processing device 10 records the speed V of the vehicle running on the curve and the steering angle detection value θd in the memory 12 as curve data in association with the direction D and the curvature radius R of the curve.
[0026]
The direction D of the curve is, for example, "right" for a right curve and "left" for a left curve. Further, the radius of curvature R of a curve is, for example, the radius of curvature R of the travel route of a vehicle that travels on the curve, for example, the radius of curvature R of a curve passing through the center of the lane in which the vehicle travels in the width direction. Further, the curve direction D and the curvature radius R are included in the road information Ir, and the processing device 10 acquires the curve direction D and the curvature radius R from the road information output device 1 .
[0027]
If the road information Ir does not include the curvature radius R of the curve, the processing device 10 may calculate the curve direction D and the curvature radius R based on the road shape included in the road information Ir. More specifically, for example, by using a known method as described in Japanese Patent Laid-Open No. 2005-115752, road information Ir includes
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5,000 character limit. Use the arrows to translate more.Based on the road shape, the processing device 10 can calculate the radius of curvature R of the curve. Alternatively, the travel route of the vehicle may be calculated based on the vehicle position information Ip, and the direction D and the radius of curvature R of the curve may be calculated based on the travel route.
[0028]
In addition, in the recording process P1, the processing device 10 may exclude curve data in which the amount of change in the velocity V or the amount of change in the detected steering angle value θd exceeds a predetermined range from the objects to be recorded. In this case, the predetermined range of the amount of change in the speed V or the amount of change in the steering angle detection value θd is set in advance and recorded in the memory 12 .
[0029]
As described above, when the processing device 10 executes the recording process P1, the time-series data of the speed V of the vehicle traveling on the curve and the time-series data of the steering angle detection value θd are converted into the direction D and the radius of curvature of the curve. It is associated with R and recorded in the memory 12 as curve data. With the above, the recording process P1 is completed.
[0030]
Next, the processing device 10 executes the classification process P2. In the classification process P2, the processing device 10 executes the following processes, for example. The processing device 10 classifies the curve data recorded in the memory 12 into right curve data and left curve data based on the direction D of the curve. Further, in the present embodiment, the processing device 10, for example, converts a plurality of right curve data groups and a plurality of left curve data groups to a plurality of right curve data groups and a plurality of left curve data groups based on the vehicle speed V and the radius of curvature R of the curve. Classify into data groups.
[0031]
More specifically, the processing device 10, for example, based on the velocity V and the curvature radius R included in each right curve data, each right curve data for each predetermined velocity V range and curvature radius R range are classified into a predetermined right curve data group set to . Similarly, the processing device 10 sets each left curve data for each predetermined speed V range and curvature radius R range, for example, based on the velocity V and curvature radius R included in each left curve data. are classified into predetermined left curve data groups.
[0032]
That is, each right curve data group includes right curve data containing a predetermined range of velocity V and a predetermined range of radius of curvature R, and each left curve data group includes a predetermined range of velocity V and Left curve data containing a predetermined range of radii of curvature R are classified. The width of the velocity V of each right curve data group and left curve data group is, for example, 0.1 [km/h], 0.5 [km/h], 1.0 [km/h], 5.0 [km/h], 10.0 [km/h] km/h], etc., depending on the situation. Similarly, the width of the curvature radius R of each right curve data group and left curve data group is, for example, 0.1 [m], 0.5 [m], 1.0 [m], 5.0 [m], 10.0 [m], etc. It can be appropriately set according to the situation.
[0033]
More specifically, assume that the width of the velocity V and the width of the radius of curvature R of each right curve data group are set to 5.0 [km/h] and 5.0 [m], respectively. In this case, for example, the right curve data with a velocity V of 32.5 [km/h] and a radius of curvature R of 50 [m] will be , the right curve data group in which the radius of curvature R ranges from 50 [m] to less than 55 [m].
[0034]
Similarly, suppose that the width of the velocity V and the width of the curvature radius R of each left curve data group are set to 5.0 [km/h] and 5.0 [m], respectively. In this case, for example, the left curve data with a velocity V of 37.3 [km/h] and a curvature radius R of 100 [m] will be , the left curve data group in which the range of curvature radius R is 100 [m] or more and less than 105 [m]. Thus, the classification process P2 ends. The classification process P2 can also be expressed as identifying right and left curves that are similar in shape.
[0035]
Next, the processing device 10 executes the extraction process P3. In the extraction process P3, the processing device 10 extracts related right curve data and left curve data. In the extraction process P3 of the present embodiment, the processing device 10 extracts pairs of a right curve data group and a left curve data group having the same velocity V and curvature radius R, for example. More specifically, processing device 10 extracts, for example, a right curve data group and a left curve data group having the same velocity V range and curvature radius R range as a related data group pair.
[0036]
Assume that, in the extraction process P3 of the present embodiment, the processing device 10 extracts, for example, a plurality of data group pairs, that is, a plurality of pairs of a right curve data group and a left curve data group. In this case, in the extraction process P3, the processing device 10 extracts, for example, the data group pair in which the steering angle detection value θd of the curve data constituting each data group pair is constant and the stabilization time is the longest.
[0037]
It should be noted that in the extraction process P3, comparison of the stabilization time of the steering angle detection value θd of the curve data constituting each data group pair can be performed, for example, as follows. For example, for each curve data constituting each data group pair, the score is set such that the longer the stabilization time of the detected steering angle value θd, the higher the score. Then, the data group pair with the highest total score value is extracted from the plurality of data group pairs. Thus, the extraction process P3 is completed.
[0038]
Next, the processing device 10 executes calculation processing P4. In the calculation process P4, the processing device 10 calculates an offset amount of the steering angle detection value θd based on the extracted steering angle detection value θd of the right curve data and the extracted steering angle detection value θd of the left curve data. calculate. The processing device 10 of the present embodiment executes, for example, the following process in the calculation process P4.
[0039]
The processing device 10 calculates the mode of the steering angle detection value θd of the plurality of right curve data constituting the extracted right curve data group. The processing device 10 also calculates the mode of the steering angle detection value θd of the plurality of left curve data constituting the extracted left curve data group. Then, the processing device 10 calculates the average value of the calculated mode of the steering angle detection value θd of the right curve data and the mode of the steering angle detection value θd of the left curve data as the offset amount of the steering angle detection value θd. Calculate as
[0040]
More specifically, for example, the mode of the steering angle detection value θd of the plurality of right curve data constituting the extracted right curve data group is 35 degrees, and the plurality of steering angle detection values θd constituting the extracted left curve data group is -30 degrees. In this case, the offset amount of the steering angle detection value θd is {35+(-30)}/2, which is 2.5 degrees. The offset amount calculated in the calculation process P4 is recorded in the memory 12, for example. With the above, the calculation process P4 ends.
[0041]
Next, the processing device 10 executes the correction process P5. In the correction process P5, the processing device 10 corrects the steering angle detection value θd based on the offset amount. Specifically, the processing device 10 corrects the steering angle detection value θd by subtracting the offset amount from the steering angle detection value θd acquired from the acceleration sensor 4, for example. More specifically, for example, assume that the offset amount is 2.5 degrees. In this case, if the steering angle detection value θd obtained from the acceleration sensor 4 is 35 degrees, the processing device 10 corrects the steering angle detection value θd to 32.5 degrees, and the steering angle detection value θd obtained from the acceleration sensor 4 is corrected to 32.5 degrees. If it is -30 degrees, the steering angle detection value θd is corrected to -32.5 degrees. As described above, the correction process P5 is completed, and each process shown in FIG. 2 is completed.
[0042]
The operation of the processing device 10 of this embodiment will be described below.
[0043]
For example, when turning left at an intersection on a narrow road, such as in a residential area, during autonomous driving or advanced driving assistance, where the vehicle is automatically steered, the vehicle may travel around a curve with a relatively small radius of curvature. may be requested. In such a case, it is necessary to control the travel route of the vehicle with high accuracy. In order to control the travel route of the vehicle with high accuracy, it is necessary to detect the steering angle θ of the steering wheel with high accuracy by the steering angle sensor 5 .
[0044]
However, the steering angle detection value θd output from the steering angle sensor 5 may include an offset amount due to, for example, the assembly process or deterioration over time. As described above, the offset amount is the error or deviation between the steering angle (0 degrees) at the steering neutral position and the steering angle detection value. Such errors or deviations affect automated driving and advanced driver assistance of vehicles. Therefore, it is necessary to calculate the offset amount included in the steering angle detection value and correct the steering angle detection value.
[0045]
As described above, the conventional neutral point detection device cannot calculate the offset amount included in the steering angle detection value of the steering angle sensor. Therefore, the steering angle detection value of the steering angle sensor including the offset amount cannot be corrected. In this case, if the steering angle detection value of the steering angle sensor is used for automatic driving or advanced driving assistance of the vehicle, the vehicle can be driven with the accuracy required when traveling on a curve with a relatively small radius of curvature as described above. cannot control the direction of travel. As a result, the vehicle may deviate from the predetermined travel route.
[0046]
On the other hand, as described above, the processing device 10 of the present embodiment calculates the offset amount of the steering angle detection value θd based on the steering angle detection value θd of the steering angle sensor 5 that detects the steering angle θ of the steering of the vehicle. Calculate As shown in FIG. 2, the processing device 10 executes a recording process P1, a classification process P2, an extraction process P3, a calculation process P4, and a correction process P5. The recording process P1 acquires the curve direction D and curvature radius R of the road on which the vehicle is traveling, the vehicle speed V and the steering angle detection value θd, and calculates the vehicle speed V and the steering angle detection value θd while traveling on the curve. is associated with the curve direction D and curvature radius R and recorded as curve data. The classification process P2 is a process of classifying the curve data into right curve data and left curve data based on the direction D. FIG. The extraction process P3 is a process of extracting related right curve data and left curve data. The calculation process P4 is a process of calculating an offset amount based on the extracted detected steering angle value θd of the right curve data and the extracted detected steering angle value θd of the left curve data. The correction process P5 is a process of correcting the steering angle detection value θd based on the offset amount.
[0047]
With such a configuration, according to the processing device 10 of the present embodiment, the offset amount of the steering angle detection value θd is calculated based on the steering angle detection value θd of the steering angle sensor 5 that detects the steering angle θ of the steering of the vehicle. It is possible to calculate and correct the steering angle detection value θd. As a result, the steering angle sensor 5 can detect the steering angle θ of the steering wheel with high accuracy. Therefore, by using the steering angle detection value θd corrected by the processing device 10 to perform automatic driving and advanced driving assistance of the vehicle, the steering angle required when traveling on a curve with a relatively small radius of curvature as described above is achieved. It is possible to control the direction of travel of the vehicle with a high degree of accuracy.
[0048]
The steering angle detection value θd corrected by the processing device 10 is used, for example, to estimate the course of travel of the vehicle. More specifically, the steering angle detection value θd corrected by the processing device 10 is input to a predetermined computational model for estimating the travel route, and the vehicle travel route is estimated by the computation model. For example, the Ackermann model can be used as this calculation model. When using the Ackermann model, the steering angle detection value θd corrected by the processing device 10 is input to the Ackermann model together with numerical values such as the vehicle speed V and the vehicle wheelbase length.
[0049]
Further, in the classification process P2, the processing device 10 of the present embodiment separates the plurality of right curve data and the plurality of left curve data based on the velocity V and the curvature radius R into a plurality of right curve data groups and a plurality of left curve data groups. classified into In addition, in the extraction process P3, the processing device 10 extracts a right curve data group and a left curve data group having the same velocity V and curvature radius R.
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5,000 character limit. Use the arrows to translate more.extract the data group. Further, in the calculation process P4, the processing device 10 calculates the mode of the steering angle detection value θd of the plurality of right curve data constituting the extracted right curve data group and the plurality of steering angle detection values θd constituting the extracted left curve data group. and the mode of the steering angle detection value θd of the left curve data of , is calculated as the offset amount.

WE CLAIMS

Claim 1]
A processing device that calculates an offset amount of the steering angle detection value based on the steering angle detection value of a steering angle sensor that detects the steering angle of the steering of the vehicle,
The direction and radius of curvature of the road on which the vehicle travels, the speed of the vehicle, and the detected steering angle value are obtained, and the speed and the detected steering angle value of the vehicle traveling on the curve are obtained. a recording process for recording curve data in association with the direction and radius of curvature;
a classification process for classifying the curve data into right curve data and left curve data based on the direction;
an extraction process for extracting the relevant right curve data and left curve data;
a calculation process of calculating the offset amount based on the extracted steering angle detection value of the right curve data and the extracted steering angle detection value of the left curve data;
a correction process for correcting the steering angle detection value based on the offset amount;
A processing unit that executes
[Claim 2]
In the classification process, the plurality of right curve data and the plurality of left curve data are classified into a plurality of right curve data groups and a plurality of left curve data groups based on the speed and the radius of curvature,
In the extraction process, the right curve data group and the left curve data group having the same velocity and radius of curvature are extracted,
In the calculation process, the most frequent value of the steering angle detection value of the plurality of right curve data constituting the extracted right curve data group, and the plurality of left curves constituting the extracted left curve data group 2. The processing device according to claim 1, wherein an average value of a mode value of said steering angle detection value of data is calculated as said offset amount.
[Claim 3]
In the extraction process, the right curve data and the left curve data corresponding to the inner lane and the outer lane of the same curve with the same speed are extracted as inner curve data and outer curve data, respectively,
a table capable of deriving a steering angle ratio, which is a ratio of the steering angle detection values of the outer curve data and the inner curve data, from a curvature radius ratio, which is a ratio of the curvature radii of the outer curve data and the inner curve data; , further executing a table creation process for creating each of the equivalent said speeds,
In the calculation process, the steering angle ratio is derived from the curvature radius ratio using the table, and the steering angle detection value of the inner curve data is multiplied by the steering angle ratio to obtain the curvature radius of the outer curve data. converting the steering angle detection value into the corresponding steering angle detection value, and calculating an average value of the steering angle detection value of the outer curve data and the steering angle detection value of the converted inner curve data as the offset amount. 2. The processing apparatus according to 1.
[Claim 4]
In the recording process, tire information of the vehicle is further acquired, and the speed of the vehicle running on the curve, the detected steering angle value, and the tire information are associated with the direction and the radius of curvature of the curve. recorded as the curve data,
The processing device according to claim 2, wherein in the extraction process, the right curve data group and the left curve data group having the same speed, radius of curvature, and tire information are extracted.
[Claim 5]
In the extraction process, when a plurality of data group pairs of the right curve data group and the left curve data group are extracted, the steering angle detection value of the curve data forming each of the data group pairs is a constant value. 3. The processing device according to claim 2, wherein said data group pair having the longest period of time is extracted.
[Claim 6]
In the extraction process, the recording process, the classification process, and the extraction process are repeatedly performed until the number of data pairs of the right curve data and the left curve data having the same speed reaches a specified number, 4. The processing device according to claim 3, wherein when the number of data pairs reaches a specified number, said data pair in which said speed or said steering angle detection value maintains a constant value for the longest time is extracted.
[Claim 7]
The processing device according to claim 1, characterized in that, in the recording process, the curve data in which the amount of change in the speed or the amount of change in the detected steering angle exceeds a predetermined range is excluded.
[Claim 8]
In the extraction process, the right curve data and the left curve data are extracted when the vehicle travels clockwise and counterclockwise on the same curve on the same travel route and at the same speed,
2. The method according to claim 1, wherein in said calculation process, an average value of said steering angle detection value of said extracted right curve data and said steering angle detection value of said extracted left curve data is calculated as said offset amount. Processing equipment as described.