Steering angle neutral learning device and recording medium

摘要

PROBLEM TO BE SOLVED: To improve the accuracy by obtaining a result of learning on the basis of a learning value storing the steering angle neutral position or obtaining a result of learning with a steering angle neutral position learning means in real traveling time. SOLUTION: Measured steering angle str-eng is received, and when a learning degree counter Cv-A is 65536 or more, whether an absolute value of a difference between the measured steering angle str-eng and the steering angle neutral position Sc is a value obtained by subtracting 6 deg as an error of the previously estimated temporary steering angle neutral position SO from the steering angle determining threshold value str-ref or less is determined. When the measured steering angle str-eng is received from an engine and the learning degree counter Cv-B is 65536 or more, whether an absolute value of a difference between the measured steering angle str-eng and the steering angle neutral position Sc#B is a value obtained by subtracting 6 deg as an error of the temporary steering angle neutral position SO from the steering angle determining threshold value str-ref or less is determined.