CN101641229B - Controller for vehicle - Google Patents

Abstract

A controller for vehicle which can satisfy both high grip performance and low fuel consumption while ensuring excellent safety during running. The controller for vehicle comprises a means for calculating the coefficient of friction between the wheel and the surface of running road, a means for calculating the command value of camber angle of the wheel based on the coefficient of friction thus calculated, and a means for selecting a wheel which operates a camber angle controller based on the operating state of a brake operation member detected by a brake detection means. Based on the command value of camber angle calculated by the camber angle calculation means, a first camber angle alteration means adjusts the camber angle of the wheel selected by the wheel section means. With such an arrangement, the wheel can exhibit a coefficient of friction required for suppressing slip of wheel surely while enhancing fuel saving performance, and acceleration performance, brake performance or turning performance can be enhanced more effectively.

Description

Vehicle console device

Technical field

The present invention relates to a kind of vehicle for the camber angle control apparatus that has wheel and the camber angle of this wheel is regulated; Control the vehicle console device of the camber angle of said wheel through the action of said camber angle control apparatus, relate in particular to a kind of vehicle console device that can realize high adherence properties and low combustion expense simultaneously.

Background technology

At present, people are attempting to give full play to through the camber angle (angle between tire center and the ground) that increases wheel in negative direction the ability of tire, improve turning performance.If camber angle is set at for example 0 °; Tire protector contacts with ground on whole Width during straight-line travelling; And action of centrifugal force can make that being positioned at the inboard tire protector of track of vehicle floats from ground when turning, thereby can not obtain enough turning performancies.Therefore, if set the camber angle of negative direction in advance, can strengthen tire protector and ground-surface contact width when turning, thereby can improve turning performance.

But, if wheel is installed on the vehicle, though can improve the turning performance of tire with bigger negative direction camber angle; Decrease but eccentric wear appears in the earth contact pressure of inboard tire protector end when having increased straight-line travelling, tire, reduced economy; And the temperature of tire protector end can raise.

In the disclosed technology of japanese kokai publication hei 2-185802 communique; When being installed to wheel on the vehicle with bigger negative direction camber angle, strengthen the rigidity of edge (side) portion of tire one side, make its edge part greater than opposite side; Simultaneously tire protector rubber is divided into two parts; Make the hardness of one of which side be lower than opposite side, perhaps increase the tread thickness of tire protector end, thereby guarantee abrasion performance, resistance to effect of heat and high adherence properties (patent documentation 1).

Also have, in the US6347802B1 communique, disclose a kind of suspension (patent documentation 2) of utilizing the propulsive effort ACTIVE CONTROL camber angle of actuator.

[patent documentation 1] japanese patent laid-open 2-185802 communique;

[patent documentation 2] US6347802B1 communique.

Yet, in the former technology,,, also have weak point from considering high adherence properties and low combustion expense (low-rolling-resistance) this point simultaneously though, can give full play to performance from keeping this point of the high adherence properties when turning.Also have, in the above-mentioned technology in the past, be only limited to and when turning, guarantee high adherence properties, weak point is then arranged during high adherence properties during urgent acceleration emergency braking when bringing into play straight-line travelling for example.Equally, in the latter's technology, consider that at the same time still there are weak point in high adherence properties and low combustion expense aspect.

Summary of the invention

The present invention makes for solving the above problems, and its purpose is to provide the vehicle console device that can realize high adherence properties and low combustion expense simultaneously.

In order to realize this purpose, technical scheme 1 described vehicle console device, it is to possessing the vehicle of wheel and camber angle control apparatus; Make the action of said camber angle control apparatus and control the camber angle of said wheel; Wherein, said wheel has the first round tire tread and second tire protector that on direction of principal axis, is set up in parallel, and; The earth-grasping force of said first round tire tread is higher than said second tire protector; And the rolling resistance of said second tire protector is less than said first round tire tread, and said camber angle control apparatus is regulated the camber angle of said wheel, and said vehicle console device is characterised in that; Have: friction coefficient is calculated mechanism, and it calculates the friction coefficient that between said wheel and track, produces; Camber angle is calculated mechanism, and it calculates the friction coefficient that mechanism calculates based on said friction coefficient, calculates the command value of the camber angle of said wheel; Braking testing agency, it detects the serviceability that chaufeur is the brake operating parts operated of abrupt deceleration vehicle; Object selection by wheel mechanism, it selects to make the wheel of said camber angle control apparatus action based on utilizing the said serviceability that testing agency is detected of braking; First camber angle change mechanism; It is based on utilizing said camber angle to calculate the command value of the camber angle that mechanism calculates; Adjusting utilizes the camber angle of the wheel that said object selection by wheel mechanism selects, thereby changes the ground connection of the first round tire tread and second tire protector of said wheel.

Technical scheme 2 described vehicle console devices are the basis with technical scheme 1 described vehicle console device, it is characterized in that having: the mechanical type stop mechanism, and it carries out the mechanical type braking to said wheel; Regenerative brake mechanism, it is regenerated as electric energy through the energy of rotation with the drive wheel in the said wheel and brakes; The braking ratio obtains mechanism; It is based on utilizing the said serviceability that testing agency is detected of braking; Obtain the ratio that on each drive wheel and flower wheel, utilizes braking force that said mechanical type stop mechanism gives and the braking force that utilizes said regenerative brake mechanism to give, wheel is selected based on utilizing said braking ratio to obtain the ratio that mechanism obtains by said object selection by wheel mechanism.

Technical scheme 3 described vehicle console devices are the basis with technical scheme 1 or 2 described vehicle console devices; It is characterized in that; Utilizing said braking ratio to obtain in the ratio that mechanism obtains; When the braking force that utilizes said regenerative brake mechanism to give is the threshold value of regulation when above with respect to the ratio of the braking force that utilizes said mechanical type stop mechanism to give; Drive wheel is only selected by said object selection by wheel mechanism; Utilizing said braking ratio to obtain in the ratio that mechanism obtains, when the braking force that utilizes said regenerative brake mechanism to give with respect to the ratio of the braking force that utilizes said mechanical type stop mechanism to give during less than the threshold value of regulation, all wheels are selected by said object selection by wheel mechanism.

Technical scheme 4 described vehicle console devices are the basis with technical scheme 2 or 3 described vehicle console devices; It is characterized in that; Having turn condition based on said vehicle obtains the turn condition that is applied to the centnifugal force on this vehicle and obtains mechanism; Be the threshold value of regulation when above when utilizing said turn condition to obtain centnifugal force that mechanism obtains; All wheels are selected by said object selection by wheel mechanism, and when utilizing said turn condition to obtain centnifugal force that mechanism obtains less than the threshold value of regulation, drive wheel is selected only to select by said object selection by wheel mechanism.

Technical scheme 5 described vehicle console devices are the basis with each described vehicle console device in the technical scheme 1 to 4, it is characterized in that having camber angle testing agency, and it detects the size of the camber angle of said flower wheel; Second camber angle change mechanism; More than the big or small represented rolling resistance of the camber angle of the said flower wheel that utilizes said camber angle testing agency to detect is for specified value; And when utilizing said selection by wheel mechanism only to select drive wheel, said second camber angle change mechanism change camber angle is so that the rolling resistance of said flower wheel is below the specified value.

The invention effect

According to technical scheme 1 described vehicle console device; Utilize the camber angle control apparatus; When the camber angle of wheel is adjusted to negative direction (negative camber angle direction); The ground connection that is configured in the tire protector (first round tire tread or second tire protector) of vehicle interior side increases, and the ground connection that is configured in the tire protector (second tire protector or first round tire tread) of vehicle outside is reduced.

Corresponding therewith; When the camber angle of wheel is adjusted to positive dirction (positive camber angle direction); The ground connection that is configured in the tire protector (first round tire tread or second tire protector) of vehicle interior side is reduced; And the ground connection that is configured in the tire protector (second tire protector or first round tire tread) of vehicle outside increases.

Like this; According to technical scheme 1 described vehicle console device; Utilize the camber angle control apparatus, regulate the camber angle of wheel, ground connection and the connected to chassis ratio of second tire protector that can change the first round tire tread of wheel at any time (comprise and have only 1 tire protector ground connection; And in addition 1 tire protector leaves the ground-surface state), therefore can obtain simultaneously by the performance that characteristic obtained of first round tire tread with by these two performances of the performance that characteristic obtained of second tire protector.

Here; According to technical scheme 1 described vehicle console device; Because the earth-grasping force of first round tire tread is greater than second tire protector, and the rolling resistance of second tire protector is less than first round tire tread, through regulating the camber angle of wheel; Changing the ground connection of first round tire tread and the connected to chassis ratio of second tire protector (comprises and has only 1 tire protector ground connection; And in addition 1 tire protector leaves the ground-surface state), therefore can obtain rideability vehicle stability such as (for example, etc.) when turning performance, acceleration capability, deceleration and stopping performance or rainy day and accumulated snow roads simultaneously and take this two performances with practicing thrift to fire.

Will obtain such two kinds of opposite performances simultaneously, be impossible on the vehicle in the past, and must change two kinds of tires of respectively corresponding its performance.But, shown in technical scheme 1 described vehicle console device, the camber angle of regulating wheel through the camber angle control apparatus with first and second tire protectors, thus can realize said purpose first.Like this, can obtain two kinds of opposite performances simultaneously.

Also have; According to technical scheme 1 described vehicle console device, friction coefficient is calculated mechanism and is calculated the friction coefficient between wheel and the track, and camber angle is calculated mechanism and calculated the friction coefficient that mechanism calculates based on this friction coefficient; Calculate the command value of the camber angle of wheel; On the other hand, the wheel of camber angle controlling device action is selected to make based on the serviceability of the brake operating parts that detect of braking testing agency by object selection by wheel mechanism.

And; Because the command value of the camber angle that mechanism calculates is calculated by first camber angle change mechanism based on camber angle; The camber angle of the selected wheel of controlled plant selection by wheel mechanism; Therefore can improve and practice thrift combustion expense performance, can make the wheel performance suppress the necessary friction coefficient of tyre skidding simultaneously reliably, thereby can improve acceleration capability, deceleration and stopping performance or turning performance effectively.

Here, if the tire protector that will possess high grip is configured in the inboard of vehicle as first round tire tread, should the first round during tire tread when utilizing, owing to can give negative camber angle, therefore can correspondingly further improve turning performance to left and right wheels.

Also have; If at the both sides (the Width both sides of wheel) of second tire protector configuration first round tire tread; Should the first round during tire tread when utilizing, owing to can give camber angle to turning medial bevelled direction simultaneously, therefore can correspondingly further improve turning performance at left and right wheels.

According to technical scheme 2 described vehicle console devices, on the effect basis of technical scheme 1 described vehicle console device, has following effect.Based on the serviceability that braking testing agency is detected, utilize the braking ratio to obtain mechanism and obtain the ratio that on each drive wheel and flower wheel, utilizes mechanical type stop mechanism braking force of giving and the braking force that utilizes regenerative brake mechanism to give.In addition, the braking force that utilizes regenerative brake mechanism to give is to be regenerated as the braking force that electric energy produces through the energy of rotation with drive wheel.And, obtain the ratio that mechanism obtains based on the braking ratio, utilize object selection by wheel mechanism to select the wheel that changes through first camber angle change mechanism.

Like this, can suitably select to carry out the wheel of camber angle change according to the ratio of the braking force that utilizes the mechanical type stop mechanism to give with the braking force that utilizes regenerative brake mechanism to give.Its result is insignificant wheel (for example, the flower wheel that the braking force that utilizes the mechanical type stop mechanism to give is less) for giving of those high grips, can not carry out the change of camber angle.

In addition; " flower wheel " of technical scheme 2 is not only and is not connected with driver train; With the driven flower wheel of drive wheel (for example; Vehicle is 2 to take turns about back in 2 wheel drive vehicles that driven 2 and take turns about preceding during take turns front and back 4), though also possibly comprise the function that is connected and self has drive wheel with driver train, (for example give situation that propulsive effort makes its flower wheelization through stopping to utilize this driver train; 4 take turns in 4 wheel drive vehicles that are activated all around, stop to give propulsive effort and realize about flower wheelization back that 2 take turns).

According to technical scheme 3 described vehicle console devices, on the effect basis of technical scheme 1 or 2 described vehicle console devices, also has following effect.Obtain in the ratio of the braking force that mechanism obtains at the braking ratio; The ratio of the braking force of giving with respect to the mechanical type stop mechanism when braking force that regenerative brake mechanism gave is the threshold value of regulation when above; Utilize object selection by wheel mechanism, only select drive wheel as the wheel that utilizes first camber angle change mechanism to change.

On the other hand; Obtain in the ratio that mechanism obtains at the braking ratio; The ratio of the braking force that the braking force of being given when regenerative brake mechanism is given with respect to the mechanical type stop mechanism is during less than the threshold value of regulation; Utilize object selection by wheel mechanism, select all wheels as the wheel that utilizes first camber angle change mechanism to change.

Thus; Give to the braking-force ratio of flower wheel hour (when being included as zero) when utilizing the mechanical type stop mechanism; Owing to make this flower wheel performance high grip become meaningless; Only drive wheel is calculated the camber angle that mechanism calculates based on camber angle this moment and carry out the adjusting of camber angle, flower wheel is not regulated, can suppress to let flower wheel bring into play insignificant high grip like this.Its result can further provide good saving combustion expense performance.

On the other hand; Even comprise flower wheel; The ratio of the braking force that the braking force of being given when regenerative brake mechanism is given with respect to the mechanical type stop mechanism is during less than the threshold value of regulation; Be that braking force that the mechanical type stop mechanism is given flower wheel is prescribed level when above, utilize first camber angle change mechanism all wheels to be carried out the change of camber angle.

Like this; The braking force of flower wheel being given when the mechanical type stop mechanism is prescribed level when above, owing to calculate the camber angle that mechanism calculates based on camber angle, not only also carries out the change of camber angle to drive wheel but also to flower wheel; Therefore can make the wheel performance suppress the necessary friction coefficient of tyre skidding reliably; Improve the deceleration and stopping performance of flower wheel, its result can improve the vehicle braked performance effectively.

According to technical scheme 4 described vehicle console devices, on the effect basis of technical scheme 2 or 3 described vehicle console devices, has following effect.Be the threshold value of regulation when above when the turn condition based on vehicle utilizes turn condition that turn condition obtains the vehicle that mechanism obtains, utilize object selection by wheel mechanism, select all wheels as the wheel that utilizes first camber angle change mechanism to change.

On the other hand; When the turn condition based on vehicle utilizes turn condition that turn condition obtains the vehicle that mechanism obtains less than the threshold value of regulation; Utilize object selection by wheel mechanism, only select drive wheel as the wheel that utilizes first camber angle change mechanism to change.

Thus; When the centnifugal force of vehicle hour; Owing to make the necessary above high grip of this flower wheel performance become meaningless; Only carry out calculating the camber angle that mechanism calculates based on camber angle to drive wheel and carry out the adjusting of camber angle this moment, flower wheel do not regulated, and can suppress to let the necessary above high grip of flower wheel performance like this.Its result can further provide good saving combustion expense performance.

On the other hand, even comprise flower wheel,, when promptly the centnifugal force of vehicle is very big as sharply turning or tempo turn, utilizes first camber angle to change mechanism and all wheels are carried out the change of camber angle when the centnifugal force of vehicle is the threshold value of regulation when above.

Like this; When the centnifugal force of vehicle as sharply turning or tempo turn is very big; Owing to calculate the camber angle that mechanism calculates based on camber angle; Not only also carry out the adjusting of camber angle, therefore can make the wheel performance suppress the necessary friction coefficient of tyre skidding reliably to drive wheel but also to flower wheel.Its result can more effectively improve the turning performance (and quicken deceleration and stopping performance) of vehicle.

According to technical scheme 5 described vehicle console devices, in technical scheme 1 to 4, on the effect basis of each described vehicle console device, also has following effect.When utilizing selection by wheel mechanism only to select drive wheel as the wheel that utilizes first camber angle change mechanism to change; If utilizing the size of the camber angle of the flower wheel that camber angle testing agency detects is that the rolling resistance of this flower wheel of expression is specified value when above; Utilize the camber angle of second camber angle change mechanism this flower wheel of change, so that the rolling resistance of this flower wheel is below the specified value.

Like this; When utilizing selection by wheel mechanism only to select drive wheel as the wheel that utilizes first camber angle change mechanism to change; When even the saving of flower wheel combustion expense performance has precedence over high grip; Because the camber angle of flower wheel is compared with actual camber angle of giving, and is adjusted to the camber angle of the rolling resistance property of further reduction wheel, therefore can obtain good saving combustion expense performance.

Description of drawings

Fig. 1 is the scheme drawing that schematically shows the vehicle of the vehicle console device that is equipped with first embodiment of the present invention.

Fig. 2 (a) is the cutaway view of wheel, (b) is the scheme drawing of the control method of deflection angle that wheel schematically is described and camber angle.

Fig. 3 is the block scheme of the electrical structure of expression vehicle console device.

Fig. 4 is the scheme drawing that schematically shows under the overlooking of vehicle.

Fig. 5 is the scheme drawing under the master that schematically illustrated vehicle looks, and wheel is in the negative camber angle state.

Fig. 6 is the scheme drawing that has schematically illustrated under the front view of vehicle, and wheel is in positive camber angle state.

Fig. 7 is the diagram of circuit of expression camber angle control and treatment.

Fig. 8 is the birds-eye view of the wheel of second embodiment.

Fig. 9 is the scheme drawing that schematically shows under the overlooking of vehicle.

Figure 10 is the scheme drawing under the master that schematically illustrated the vehicle that is in the turnon left state looks; Make left and right wheels be in the deflection angle state of left-hand rotation usefulness respectively; Make turning foreign steamer (off front wheel) be in the negative camber angle state, make the interior wheel (left wheel) of turning be in normal camber angle state.

Figure 11 is the diagram of circuit of expression camber angle control and treatment.

Figure 12 is the birds-eye view of the wheel of expression the 3rd embodiment.

Figure 13 is the scheme drawing under the master that schematically illustrated the vehicle that is in the turnon left state looks; Make left and right wheels be in the deflection angle state of left-hand rotation usefulness respectively; Make turning foreign steamer (off front wheel) be in the negative camber angle state, make the interior wheel (left wheel) of turning be in positive camber angle state.

Figure 14 is the diagram of circuit of expression camber angle control and treatment.

Figure 15 is the diagram of circuit of the camber angle control and treatment of expression the 4th embodiment.

Figure 16 is the block scheme of electrical structure of the vehicle console device of expression the 5th embodiment.

Figure 17 is the scheme drawing that has schematically illustrated the friction coefficient content transformed.

Figure 18 is the scheme drawing that has schematically illustrated the camber angle content transformed.

Figure 19 is the diagram of circuit of expression camber angle control and treatment.

Figure 20 is the scheme drawing that has schematically illustrated the camber angle content transformed of the 6th embodiment.

Figure 21 is the diagram of circuit of expression camber angle control and treatment.

Figure 22 is the block scheme of electrical structure of the vehicle console device of expression the 7th embodiment.

Figure 23 is the scheme drawing of correlativity of serviceability and the braking force of expression brake pedal.

Figure 24 is that the expression camber angle is given the diagram of circuit of processing.

Nomenclature

The 100-vehicle console device, 1,201, the 301-vehicle, 2,202, the 302-wheel, 2FL-front-wheel (wheel, left wheel, drive wheel); 2FR-front-wheel (wheel, right wheel, drive wheel), 2RL-trailing wheel (wheel, left wheel, flower wheel), 2RR-trailing wheel (wheel, right wheel, flower wheel), 21, the 221-first tire tyre surface; The 22-second tire tyre surface, 323-the 3rd tire tyre surface, 3FL-FL motor; The 3FR-FR motor, 4-camber angle control apparatus, 4FL～4RR-FL～RR actuator (camber angle control apparatus); 4a～4c-hydraulic actuating cylinder (part of camber angle control apparatus), 4d-Hydraulic Pump (part of camber angle control apparatus)

Embodiment

Below, present invention will be described in detail with reference to the accompanying preferred embodiment.Fig. 1 is the scheme drawing that schematically shows the vehicle 1 of the vehicle console device 100 that carries first embodiment of the present invention.In addition, the arrow FWD of Fig. 1 representes the working direction of vehicle 1.

The general configuration of vehicle 1 at first, is described.As shown in Figure 1; Vehicle 1 mainly includes vehicle body frame BF, turns to the camber angle control apparatus 4 of driving and camber angle adjusting etc. by the wheel driver 3 of a plurality of (in this embodiment being 4) wheel 2 of this vehicle body frame BF supporting, independent each wheel 2 of rotation driving, to each wheel 2; Utilize the camber angle of vehicle console device 100 control wheels 2; Difference is used and is arranged on the two kinds of tire protectors (with reference to Fig. 5 and Fig. 6) on the wheel 2, thereby can realize improving simultaneously rideability and the purpose of practicing thrift the combustion expense.

The detailed structure of each several part then, is described.As shown in Figure 1; Wheel 2 have the direct of travel that is positioned at vehicle 1 front side left and right sides front-wheel 2FL, 2FR and be positioned at left and right sides trailing wheel 2RL, 2RR totally 4 wheels of rear side of the direct of travel of vehicle 1; These front and back wheels 2FL～2RR receives the rotary driving force from wheel driver 3, can distinguish rotation independently.

Wheel driver 3 is the rotating driving device of each wheel of individual drive 2 rotations, and is as shown in Figure 1, and (FL～RR motor 3FL～3RR) is configured in (promptly as the wheel hub motor) on each wheel 2 for 4 electro-motors.When driver's operation acceleration pedal 52, act on each wheel 2 from the rotary driving force of each wheel driver 3, each wheel 2 is rotated according to the rotative speed according to the operational ton of acceleration pedal 52.

Also has wheel 2 (front and back wheel 2FL～2RR) can regulate deflection angle and camber angle through camber angle control apparatus 4.Camber angle control apparatus 4 is the deflection angle of each wheel 2 of adjusting and the actuating device of camber angle.As shown in Figure 1, on the relevant position of each wheel 2, dispose and add up to 4 camber angle control apparatuss 4 (FL～RR actuator 4FL～4RR).

For example, when driver's operation bearing circle 54, drive (for example, being front-wheel 2FL, 2FR side) or all camber angle control apparatuss 4 of a part, wheel 2 is given and the corresponding deflection angle of the operational ton of bearing circle 54.Like this, carry out the handling maneuver of wheel 2, vehicle 1 is turned towards prescribed direction.

Also have; Camber angle control apparatus 4 is along with the motoring condition of vehicle 1 (for example, during constant speed drive, or during acceleration and deceleration; Or during straight ahead or when turning) or the state of wheel 2 track G is (for example; During dry pavement and rainy day during the road surface) etc. state variation, receive the control of vehicle console device 100, regulate the camber angle of wheel 2.

The detailed structure of wheel driver 3 and camber angle control apparatus 4 is described with reference to Fig. 2 here.Fig. 2 (a) is the cutaway view of wheel, and Fig. 2 (b) is the scheme drawing of the control method of deflection angle that wheel 2 schematically is described and camber angle.

In addition, in Fig. 2 (a), omitted power supply wiring etc. from driving voltages to wheel driver 3 that supply with.Also have, the imaginary axis Xf-Xb among Fig. 2 (b), imaginary axis Y1-Yr and imaginary axis Zu-Zd be fore-and-aft direction, left and right directions and the above-below direction of corresponding vehicle 1 respectively.

Shown in Fig. 2 (a), wheel 2 (front and back wheel 2FL～2RR) mainly have by the tire 2a of rubber-like elasticity component set-up and the wheel hub 2b that constitutes by aluminum alloy etc.In the interior perimembranous of wheel hub 2b, be provided with wheel driver 3 as the wheel hub motor (FL～RR motor 3FL～3RR).

Tire 2a has the first round tire tread 21 of the inboard (Fig. 2 (a) right side) that is configured in vehicle 1 with different with these first round tire tread 21 characteristics, is configured in second tire protector 22 in the outside (Fig. 2 (a) left side) of vehicle 1.In addition, the detailed structure of wheel 2 (tire 2a) will describe with reference to Fig. 4 in the back.

Shown in Fig. 2 (a), the outstanding axle drive shaft 3a of the front face side of wheel driver 3 (Fig. 2 (a) left side) is fixedly connected on the wheel hub 2b, via axle drive shaft 3a, can transmit rotary driving force to wheel 2.Also have, be fixedly connected with camber angle control apparatus 4 (FL～RR actuator 4FL～4RR) on the back side of wheel merit actuating device 3.

Camber angle control apparatus 4 has a plurality of (in this embodiment being 3) hydraulic actuating cylinder 4a～4c, the bar portion of said 3 hydraulic actuating cylinder 4a～4c is fixedly connected on the rear side (Fig. 2 (a) right side) of wheel driver 3 via connector portions (being universal-joint in this embodiment) 540.In addition, shown in Fig. 2 (b), each hydraulic actuating cylinder 4a～4c is in roughly uniformly-spaced (that is, axial 120 ° of intervals) configuration of Zhou Fangxiang, and 1 hydraulic actuating cylinder 4b is configured on the imaginary axis Zu-Zd.

Thus, each hydraulic actuating cylinder 4a～4c makes each bar portion extend to drive or shorten with specified length in prescribed direction respectively and drives, thereby is center of oscillation with imaginary axis Xf-Xb, Zu-Xd, wobble drive wheel driver 3.Its result gives the camber angle and the deflection angle of regulation to each wheel 2.

For example; Shown in Fig. 2 (b); When wheel 2 is in center position (the straight-line travelling state of vehicle 1); The bar portion of hydraulic actuating cylinder 4b receives and shrink driving and after the bar portion of hydraulic actuating cylinder 4a, 4c received elongation and drive, wheel driver 3 was along imaginary line Xf-Xb rotation (arrow A of Fig. 2 (b)), and wheel 2 is endowed the camber angle (line of centers of wheel 2 is with respect to imaginary line Zu-Zd angulation) of negative direction (negative camber angle).On the other hand, on direction in contrast to this, after hydraulic actuating cylinder 4b and hydraulic actuating cylinder 4a, 4c received telescopic drive respectively, wheel 2 was endowed the camber angle of positive dirction (positive camber angle).

Also have; When wheel 2 is in center position (the straight-line travelling state of vehicle 1); The bar portion of hydraulic actuating cylinder 4a receives and shrink driving and after the bar portion of hydraulic actuating cylinder 4c receives elongation and drive; Wheel driver 3 is along imaginary line Zu-Zd rotation (arrow B of Fig. 2 (b)), and wheel 2 is endowed the deflection angle (angle between the datum line of the line of centers of wheel 2 and vehicle 1, irrelevant with the travel direction of vehicle 1) of prenex tendency.On the other hand, on direction in contrast to this, after hydraulic actuating cylinder 4a and hydraulic actuating cylinder 4c received telescopic drive, wheel 2 was endowed the deflection angle of posterior cord tendency.

In addition, the driving method of each hydraulic actuating cylinder 4a～4c of expression for example here, as stated, for explanation is positioned at the situation that the state of center position drives from wheel 2.But can control the telescopic drive of each hydraulic actuating cylinder 4a～4c through these driving methods of combination, give camber angle and deflection angle arbitrarily wheel 2.

Getting back to Fig. 1 describes.Acceleration pedal 52 is the operating unit that receives driver's operation with brake pedal 53, according to the state of entering into (amount of entering into, the speed etc. of entering into) of each pedal 52,53, confirms the moving velocity and the braking force of vehicle 1, carries out the action control of wheel driver 3.

Bearing circle 54 according to its serviceability (angle of turn, turning speed etc.), is confirmed the turn radius of vehicle 1 etc. for receiving the operating unit of driver's operation, carries out the action control of camber angle control apparatus 4.Wiper switch 55 is the operating unit of driver's operation, according to its serviceability (operating position etc.), carries out the action control of Windshield Wiper (not shown).

Equally, flash light switch 56 is the operating unit that receives driver's operation with high grip switch 57, and according to its serviceability (operating position etc.), the former carries out the action control of flash light (not shown), and the latter carries out the action control of camber angle control apparatus 4.

In addition, the state that high grip switch 57 is in connection with selected the state of high adherence properties corresponding as the characteristic of wheel 2, high grip switch 57 is in open circuited state then corresponding to the state of having selected low-rolling-resistance as the characteristic of wheel 2.

Vehicle console device 100 is the vehicle console device that the each several part of the vehicle 1 of said structure is controlled, and for example, detects the serviceability of each pedal 52,53, according to its testing result, makes wheel driver 3 actions, controls the rotative speed of each wheel 2.

Perhaps; Detect the serviceability of acceleration pedal 52, brake pedal 53 or bearing circle 54; According to its testing result, make 4 actions of camber angle control apparatus, the camber angle of regulating each wheel; Thereby difference is used and is arranged on the 2 kinds of tire protectors 21,22 (with reference to Fig. 5 and Fig. 6) on the wheel 2, thereby can realize improving rideability and the purpose of practicing thrift the combustion expense.The detailed structure of vehicle console device 100 is described with reference to Fig. 3 here.

Fig. 3 is the block scheme of the electrical structure of expression vehicle console device 100.As shown in Figure 3, vehicle console device 100 has CPU71, ROM72 and RAM73, and these parts are connected with IO interface 75 via bus 74.Also have, IO interface 75 is connected with wheel driver 3 multiple arrangements such as grade.

The arithmetical device of CPU71 for each one that is connected bus 74 is controlled.ROM72 is the non-volatile memory that can not rewrite of the control program of memory by using CPU71 operation and fixed value data etc.Various data and rewritable memory device when RAM73 is the storage control program operation.In addition, in ROM72, deposit the program of diagram of circuit as shown in Figure 7 (camber angle control and treatment).

As stated; Wheel driver 3 is for rotation drives the device of each wheel 2 (with reference to Fig. 1), mainly has each wheel 2 is given 4 FL～RR motor 3FL～3RR of rotary driving force and based on the order of CPU71 these motors 3FL～3RR carried out the driving loop (not shown among the figure) of drive controlling.

As stated; Camber angle control apparatus 4 is the deflection angle of each wheel 2 of adjusting and the actuating device of camber angle, mainly has as giving the driving loop (not shown) of these each actuator 4FL～4RR being carried out drive controlling to 4 FL～RR actuator 4FL～4RR of the propulsive effort of each wheel 2 (wheel driver 3) when carrying out angular adjustment with based on the order of CPU71.

In addition, FL～RR actuator 4FL～4RR mainly has: 3 hydraulic actuating cylinder 4a～4c, to these each hydraulic actuating cylinder 4a～4c supply with oil (hydraulic pressure) Hydraulic Pump 4d (with reference to Fig. 1), switch the direction of the supply of the oil of supplying with to each hydraulic actuating cylinder 4a～4c from these oil pumps electromagnetic valve (not shown), detect the flexible sensor (not shown) of the stroke of each hydraulic actuating cylinder 4a～4c (bar portion).

Based on the indication of CPU71, drive controlling is carried out to Hydraulic Pump in the driving loop of camber angle control apparatus 4, the oil (hydraulic pressure) that utilizes this Hydraulic Pump to supply with, and it is flexible to drive each hydraulic actuating cylinder 4a～4c.Also have, during the on/off electromagnetic valve, switch the driving direction (elongation or contraction) of each hydraulic actuating cylinder 4a～4c.

The stroke of flexible each the hydraulic actuating cylinder 4a～4c of sensor monitoring of the driving circuit utilization of camber angle control apparatus 4, the hydraulic actuating cylinder 4a～4c that reaches the indicated expected value of CPU71 (stroke) then stops its fore and aft motion.In addition, the testing result of flexible sensor outputs to CPU71 from driving circuit, and CPU71 is based on this testing result, obtains each wheel 2 present deflection angle and camber angle.

Vehicle speed sensor device 32 is to detect vehicle 1 to output to the device of CPU71 with respect to the ground speed (absolute value and travel direction) of road surface G and with this testing result, before and after mainly having and left and right directions acceleration pick-up 32a, 32b and the control circuit (not shown) of the testing result of each acceleration pick-up 32a, 32b being handled and output to CPU71.

Fore-and-aft direction acceleration pick-up 32a is the sensor of the acceleration/accel of the fore-and-aft direction (above-below direction of Fig. 1) of detection vehicle 1 (vehicle body frame BF), and left and right directions acceleration pick-up 32b is the sensor of the acceleration/accel of the left and right directions (left and right directions of Fig. 1) of detection vehicle 1 (vehicle body frame BF).In addition, in this embodiment, these each acceleration pick-up 32a, 32b are for adopting the piezo-type sensor of piezoelectric element.

CPU71 carries out time integral to each the acceleration pick-up 32a that imports from the control circuit of vehicle speed sensor device 32, the testing result (accekeration) of 32b; Calculate the speed of 2 directions (front and back and about) respectively; Through the component of a Synthetic 2 direction, obtain the ground speed (absolute value and travel direction) of vehicle 1 simultaneously.

The load that ground connection load sensing apparatus 34 bears for the ground plane that detects each wheel 2 from ground G; And this testing result is outputed to the device of CPU71, the control circuit (not shown) that has FL～RR load sensor 34FL～34RR of detecting the load that each wheel 2 bears respectively and the testing result of each load sensor 34FL～34RR handled and output to CPU71.

In addition, in this embodiment, these each load sensor 34FL～34RR are for adopting 3 axle load sensors of piezoresistive.These each load sensor 34FL～34RR are arranged on the suspended axle (not shown) of each wheel 2; 3 directions along fore-and-aft direction (imaginary axis Xf-Xb direction), left and right directions (imaginary axis Y1-Yr direction) and the above-below direction (imaginary axis Zu-Zd direction) of vehicle 1 detect the load from ground G (with reference to Fig. 2 (b)) that said wheel 2 bears.

CPU71 is according to the testing result (ground connection load) from each load sensor 34FL～34RR of ground connection load sensor 34 input, infers the coefficientoffriction of road surface G of the ground plane of each wheel 2 according to following method.

For example; When analyzing front-wheel 2FL; If the load of fore-and-aft direction, left and right directions and the vertical direction of the vehicle 1 that FL load sensor 34FL is detected is respectively Fx, Fy, Fz; Under the slipping state that front-wheel 2FL skids with respect to road surface G, with the coefficientoffriction of vehicle 1 fore-and-aft direction of the road surface G of the cooresponding ground plane of front-wheel 2FL part then be Fx/Fz (μ x=Fx/Fz).Under the non-slipping state that front-wheel 2FL does not skid with respect to road surface G, this coefficientoffriction is estimated as greater than being the value of Fx/Fz (μ x＞Fx/Fz).

In addition, for the coefficientoffriction y of the left and right directions of vehicle 1 too,, be estimated as greater than being the value of Fy/Fz in that non-slipping state is next at the next μ y=Fy/Fz of slipping state.Also have, can certainly utilize additive method to detect coefficientoffriction.As additive method, can adopt for example TOHKEMY 2001-315633 communique and the disclosed technology of TOHKEMY 2003-118554 communique.

Wheel revolutions speed sensor 35 outputs to the device of CPU71 for the rotative speed that detects each wheel 2 and with this testing result, the treatment circuit (not shown) that has 4 FL～RR rotation speed sensor 35FL～35RR of the rotative speed that detects each wheel 2 respectively and the testing result of each rotation speed sensor 35FL～35RR handled and output to CPU71.

In addition, in this embodiment, each rotation speed sensor 35FL～35RR is arranged on each wheel 2, and the cireular frequency of each wheel 2 is detected as rotative speed.That is, each rotation sensor 35FL～35RR has and the swivel of each wheel 2 interlock rotations and the EM coupling formula sensor of the coupler that has or not of many teeth of the Zhou Fangxiang formation that utilizes electromagnetic mode to detect at its swivel.

CPU71 can and be stored in the external diameter of each wheel 2 the ROM72 in advance from the rotative speed of each wheel 2 of wheel revolutions speed sensor implementations 35 input; Obtain the circular velocity of the reality of each wheel 2 respectively; Moving velocity (ground speed) through with this circular velocity and vehicle 1 compares, and can judge whether each wheel 2 skids.

Accelerator pedal sensor device 52a is for detecting the serviceability of acceleration pedal 52; And this testing result is outputed to the device of CPU71, the control circuit (not shown) that mainly has the angular transducer (not shown) of the state of entering into that detects acceleration pedal 52 and the testing result of this angular transducer handled and output to CPU71.

Brake pedal sensor device 53a is for detecting the serviceability of brake pedal 53; And this testing result is outputed to the device of CPU71, the control circuit (not shown) that mainly has the angular transducer (not shown) of the state of entering into that detects brake pedal 53 and the testing result of this angular transducer handled and output to CPU71.

Steering wheel sensor device 54a is for detecting the serviceability of bearing circle 54; And this testing result is outputed to the device of CPU71, the control circuit (not shown) that mainly has the angular transducer (not shown) of the serviceability that detects bearing circle 54 and the testing result of this angular transducer handled and output to CPU71.

Scrape the control circuit (not shown) of water drain cock sensor device 55a for detecting the serviceability scrape water drain cock 55 and this testing result is outputed to the device of CPU71, mainly have the position transduser (not shown) that detects the serviceability (operating position) of scraping water drain cock 55 and the testing result of this position transduser being handled and output to CPU71.

Flash light switch 56a is for detecting the serviceability of flash light switch 56; And this testing result is outputed to the device of CPU71, the control circuit (not shown) that mainly has the position transduser (not shown) of the serviceability (operating position) that detects flash light switch 56 and the testing result of this position transduser handled and output to CPU71.

High grip switch 57a is for detecting the serviceability of high grip switch 57; And this testing result is outputed to the device of CPU71, the control circuit (not shown) that mainly has the position transduser (not shown) of the serviceability (operating position) that detects high grip switch 57 and the testing result of this position transduser handled and output to CPU71.

In addition, in this embodiment, each angular transducer is the potentiometer that utilizes the contact-type of resistance.CPU71 can be according to the testing result to importing from the control circuit of each sensor device 52a～54a; Obtain the amount of entering into of each pedal 52,53 and the operation angle of bearing circle 54; And, obtain the speed of entering into (operating speed) of each pedal 52,53 and the rotative speed (operating speed) of bearing circle 54 through this testing result is carried out time diffusion.

As the input/output unit 35 of shown in Figure 3 other, the optical pickocff etc. that for example is useful on the rain sensor that detects rainfall and detects the state of road surface G through the noncontact mode.

The detailed structure of wheel 2 then, is described with reference to Fig. 4～Fig. 6.Fig. 4 is the scheme drawing that schematically shows under the overlooking of vehicle 1.Fig. 5 and Fig. 6 are the scheme drawings under the master that schematically illustrated vehicle 1 looks.Wheel 2 is in the negative camber angle state among Fig. 5, and wheel 2 is in positive camber angle state among Fig. 6.

As stated, wheel 2 has the first round tire tread 21 and second tire protector 22.As shown in Figure 4, in each wheel 2 (front-wheel 2FL, 2FR and trailing wheel 2RL, 2RR), first round tire tread 21 is configured in the inboard of vehicle 1, and second tire protector 22 is configured in the outside of vehicle 1.

In this embodiment, the width dimensions of two tire protectors 21,22 (Fig. 4 left and right directions size) is identical.Also have, compare with second tire protector 22, first round tire tread 21 has the characteristic (high adherence properties) of high grip.On the other hand, compare with first round tire tread 21, second tire protector 22 has the characteristic (low-rolling-resistance) of low-rolling-resistance.

For example; As shown in Figure 5; When camber angle control apparatus 4 moves control, when the camber angle θ L of wheel 2, θ R were adjusted to negative direction (negative camber angle), the earth contact pressure Rin of first round tire tread 21 that is configured in the inboard of vehicle 1 increased; And the earth contact pressure Rout of second tire protector 22 that is configured in the outside of vehicle 1 reduces.Thus, utilize the high adherence properties of first round tire tread 21, can improve rideability (for example vehicle stabilization performance when turning performance, acceleration capability, deceleration and stopping performance or rainy day etc.).

On the other hand; As shown in Figure 6; When each control apparatus 4 of camber angle moves control, when the camber angle θ L of wheel 2, θ R were adjusted to positive dirction (positive camber angle), the earth contact pressure of first round tire tread 21 that is configured in the inboard of vehicle 1 reduced; And the earth contact pressure of second tire protector 22 that is configured in the outside of vehicle 1 increases.Like this, utilize the low-rolling-resistance of second tire protector 22, can improve the performance of practicing thrift the combustion expense.

Then, with reference to Fig. 7 the camber angle control and treatment is described.Fig. 7 is the diagram of circuit of expression camber angle control and treatment.During vehicular input is with the power supply of control setup 100, utilize CPU71 circulation (for example 0.2ms) at interval to carry out this processings, through the camber angle that wheel 2 is given in adjusting, obtain said rideability simultaneously and practice thrift two performances that combustion takes.

CPU71 judges at first whether wiper switch 55 is in on-state, is whether chaufeur indicates the Windshield Wiper that will utilize preceding vehicle window to scrape hydrodynamic(al) work (S1) when the camber angle control and treatment.Its result, if judge that wiper switch 55 is in on-state (S1: be), then expression is rainy day now, might form moisture film on the G of road surface, therefore gives negative camber angle (S6) to wheel 2, finishes this camber angle and handles.

Like this, because the earth contact pressure Rin of first round tire tread 21 increases, and the earth contact pressure Rout of second tire protector 22 reduces (with reference to Fig. 5), thereby can utilize the high adherence properties of first round tire tread 21, the vehicle stabilization performance when improving the rainy day.

When S1 handles; Be not in on-state (S1: not) if judge wiper switch 55; Then expression is not the rainy day now, and road surface G is in good condition, therefore judges then whether the amount of entering into of acceleration pedal 52 is more than the specified value; That is, whether chaufeur is indicated and is wanted specified value to quicken (the urgent acceleration) (S2) abovely.

Its result is specified value above (S2: be) if judge the amount of entering into of acceleration pedal 52, then shows the serious brish acceleration of chaufeur indication, because skidding might appear in wheel 2, therefore gives negative camber angle (S6) to wheel 2, finishes this camber angle and handles.

Like this, the same with said situation, because the earth contact pressure Rin of first round tire tread 21 increases; And the earth contact pressure Rout of second tire protector 22 reduces (with reference to Fig. 5); Thereby can utilize the high adherence properties of first round tire tread 21, prevent that skidding from appearring in wheel 2, improve the acceleration capability of vehicle 1.

When the processing of S2; Do not reach specified value (S2: not) if judge the amount of entering into of acceleration pedal 52; Then expression does not have indicating emergency to quicken, but is slowly quickening or constant speed drive, therefore judges then whether the amount of entering into of brake pedal 53 is more than the specified value; That is, whether chaufeur is indicated and will be stipulated above braking (emergency braking) (S3).

Its result is specified value above (S3: be) if judge the amount of entering into of brake pedal 53, shows that then the chaufeur indication wants emergency braking, because locking might appear in wheel 2, therefore gives negative camber angle (S6) to wheel 2, finishes this camber angle and handles.

Like this, the same with said situation, because the earth contact pressure Rin of first round tire tread 21 increases; And the earth contact pressure Rout of second tire protector 22 reduces (with reference to Fig. 5); Thereby can utilize the high adherence properties of first round tire tread 21, prevent that locking from appearring in wheel 2, improves the deceleration and stopping performance of vehicle 1.

When S3 handles; Do not reach specified value (S3: not) if judge the amount of entering into of brake pedal 53; Then expression does not have the indicating emergency braking, but is slowly braking or quickening or constant speed drive, judges then therefore whether car speed (ground speed) is that specified value is following (for example; Speed per hour 15km), promptly, whether be in low speed driving state (S17).

Its result is (promptly being in the low speed driving state) (S17: be) below the specified value if judge car speed, and the situation that surpasses specified value with car speed is compared, and can think that then the possibility of vehicle 1 possibility or the acceleration of ramp to stop thereafter is higher.Therefore, in these cases, need guarantee the earth-grasping force of vehicle 1 (wheel 2) or stop power, therefore give negative camber angle (S6), finish this camber angle and handle wheel 2.

Like this; The same with said situation, because the earth contact pressure Rin of first round tire tread 21 increase, and the earth contact pressure Rout of second tire protector 22 reduces (with reference to Fig. 5); Thereby can utilize the high adherence properties of first round tire tread 21; Increase the earth-grasping force of wheel 2, prevent that it from locking occurring or skidding the deceleration and stopping performance or the acceleration capability of raising vehicle 1.

Also have, after vehicle 1 stops, can utilize the high adherence properties of first round tire tread 21, guarantee the power that stops of vehicle 1 (wheel 2), make vehicle 1 be in stable status and stop.In addition, during starting once more after this stops, the earth contact pressure Rin through prior increase first round tire tread can prevent that skidding from appearring in wheel 2, and vehicle 1 is started on high response ground reposefully once more.

When S17 handles; If judge that car speed is greater than specified value (S17: not); Represent that then car speed is not a low speed; Thereby the propulsive effort when inferring acceleration and deceleration, braking-force ratio are less, therefore judge then whether flash light switch 56 is connected, promptly, whether chaufeur turn round or change lane (S18) about indicating and will carrying out.

Its result connects (S18: be) if judge flash light switch 56 and since along with about turn round or change lane; In order to carry out turning action or to be its preparation; The possibility that vehicle 1 slows down is higher, therefore gives negative camber angle (S6) to wheel 2, finishes this camber angle and handles.

Like this, the same with said situation, because the earth contact pressure Rin of first round tire tread 21 increases; And the earth contact pressure Rout of second tire protector 22 reduces (with reference to Fig. 5); Thereby can utilize the high adherence properties of first round tire tread 21, increase the earth-grasping force of wheel 2, improve the turning performance of vehicle 1.

When S18 handles; Do not connect (S18: not) if judge flash light switch 56; Then expression is inferred and is turned round about vehicle 1 is not followed or the turning action of change lane, therefore judge then whether high grip switch 57 is connected, promptly, whether chaufeur indicate the characteristic (S19) that will the characteristic of wheel 2 be chosen as high adherence properties.

Its result connects (S19: be) if judge high grip switch 57, because the characteristic of wheel 2 is chosen as the characteristic of high adherence properties, so give negative camber angle (S6) to wheel 2, and finish this camber angle and handle.

Like this; The same with said situation; Because the earth contact pressure Rin of first round tire tread 21 increases, and the earth contact pressure Rout of second tire protector 22 reduces (with reference to Fig. 5), thereby can utilize the high adherence properties of first round tire tread 21; Prevent that skidding from appearring in wheel 2, improve deceleration and stopping performance, acceleration capability or the turning performance of vehicle 1.

When S19 handles, if judge earth-grasping force switch 57 do not connect (S19: not), the operation angle of then then judging bearing circle 54 whether be specified value above, promptly, whether chaufeur indicates will stipulate above turning (sharply turning) (S4).

Its result is specified value above (S4: be) if judge the operation angle of bearing circle 54, because the chaufeur indication will be carried out sharply turning, might occur skidding by wheel 2, and upset appears in vehicle 1, therefore gives negative camber angle (S6) to wheel 2, finishes this camber angle and handles.

Like this; The same with said situation; Because the earth contact pressure Rin of first round tire tread 21 increases, and the earth contact pressure Rout of second tire protector 22 reduces (with reference to Fig. 5), thereby can utilize the high adherence properties of first round tire tread 21; Prevent that wheel 2 from occurring skidding (upset appears in vehicle 1), improves the turning performance of vehicle 1.

On the other hand, when S4 handles, do not reach specified value (S4: not) if judge the operation angle of bearing circle 54; Then sharply turning is not indicated in expression; Slowly turn round or the state of straight-line travelling but be in, also have, utilize the processing of S1～S3; It is good to infer pavement state, does not have indicating emergency to quicken or emergency braking (S1: not, S2: not, S3: not).

Therefore, in this case (S1: not, S2: not, S3: not, S4: not), the characteristic of wheel 2 need not be high adherence properties, preferably utilizes low-rolling-resistance to obtain to practice thrift combustion expense performance, therefore gives positive camber angle (S5) to wheel 2, finishes this camber angle and handles.

Like this; Because the earth contact pressure Rin of first round tire tread 21 reduces, and the earth contact pressure Rout of second tire protector 22 increases (with reference to Fig. 6), thereby can utilize the low-rolling-resistance of second tire protector 22; Improve the rolling efficient of wheel 2, the saving combustion that improves vehicle 1 takes performance.

Like this; According to this embodiment; Utilize camber angle control apparatus 4 to regulate camber angle θ R, the θ L of wheel 2; The ratio of the earth contact pressure Rin of change first round tire tread 21 and the earth contact pressure Rout of second tire protector 22, thus can realize acceleration capability and deceleration and stopping performance and such two the opposite performances of saving combustion expense performance simultaneously.

Then, with reference to Fig. 8～Figure 11, second embodiment is described.Fig. 8 is the birds-eye view of the wheel 202 of expression second embodiment.Fig. 9 is the scheme drawing under expression vehicle 201 is overlooked.

Also have; Figure 10 is that expression is in the scheme drawing under main the looking of vehicle 201 of turnon left state; Make left and right wheels 2 be in the deflection angle state of left-hand rotation usefulness, make turning foreign steamer (off front wheel 202FR) be in the negative camber angle state, make the interior wheel (the near front wheel 202FL) of turning be in normal camber angle state.

In the first embodiment, the external diameter of two tire protectors 21,22 that wheel 2 has been described is in Width unmodified situation, and in second embodiment, the external diameter of the first round tire tread 221 of wheel 2 dwindles gradually.In addition, the part identical with said first embodiment adopts same-sign, omits its explanation.

Like Fig. 8 and shown in Figure 9, the wheel 202 of second embodiment has second tire protector 22 in the first round tire tread 221 of the inboard (Fig. 8 right side) that is configured in vehicle 201 and the outside that be configured in vehicle 201 different with these first round tire tread 221 characteristics (Fig. 8 left side).

Also have, compare with second tire protector 22, first round tire tread 221 has the characteristic (high adherence properties) of high grip.Compare with first round tire tread 221, second tire protector 22 has the characteristic (low-rolling-resistance) of low-rolling-resistance.

Like Fig. 8 and shown in Figure 9; The width dimensions of two tire protectors 221,22 of wheel 202 (Fig. 8 left and right directions size) is identical; But the external diameter of second tire protector 22 is roughly constant at Width (Fig. 8 left and right directions), and the inboard (Fig. 8 right side) of the external diameter of first round tire tread 221 from second tire protector, 22 sides (Fig. 8 left side) towards vehicle 201 be diameter reduction gradually.

Like this, shown in figure 10, even do not give big camber angle (that is, even camber angle is set at 0 °) to wheel 202 (the near front wheel 202FL), first round tire tread 221 is in the state that leaves road surface G, has only second tire protector, 22 ground connection.Its result has reduced wheel 2 single-piece rolling resistance, has further improved the performance of practicing thrift the combustion expense.And, through making earth-free and second tire protector 22 of first round tire tread 221, can suppress the wearing and tearing of these two tire protectors 221,22 with littler camber angle ground connection, realize high lifeization.

On the other hand; Shown in figure 10; If give the camber angle (negative camber angle) of negative direction, make first round tire tread 221 ground connection, because the external diameter of this first round tire tread 221 dwindles gradually to wheel 202 (off front wheel 202FR); Thereby the earth contact pressure of first round tire tread 221 can be realized uniformization in the whole zone of Width (Fig. 8 left and right directions), can suppress earth contact pressure and concentrate on the tire protector end.

Like this; Can effectively utilize the first round tire tread 221 of high adherence properties, further improve rideability (for example vehicle stabilization performance when turning performance, acceleration capability, deceleration and stopping performance or rainy day etc.), simultaneously; The eccentric wear that can suppress first round tire tread 221 decreases, and realizes high lifeization.

Then, with reference to Figure 11, the camber angle control of braking of second embodiment is described.Figure 11 is the diagram of circuit of expression camber angle control and treatment.This is handled when the power connection of vehicle console device 100, utilizes CPU71 circulation (for example, every at a distance from 0.2ms) to carry out.

CPU71 is when the camber angle control and treatment; If judging the amount of entering into that wiper switch 55 is in on-state (S1: be), acceleration pedal 52 is that specified value above (S1: not, S2: not, S3: be), car speed are that (S1: not, S2: not, S3: not, S17: be), flash light switch 56 are when being in on-state (S1: not, S2: not, S3: not, S17: not, S18: be) and high grip switch 57 and being in on-state (S1: not, S2: not, S3: not, S17: not, S18: be) below the specified value greater than the amount of entering into of specified value (S1: not, S2: be), brake pedal 53; Of said first embodiment; Show road surface G be formed with turn round about generation and parking, prediction that moisture film, indicating emergency quicken emergency braking, prediction large driving force are followed or the action of turning round of change lane, or indication select high adherence properties, so must utilize the high adherence properties of first round tire tread 221.

In this case, give negative camber angle (in this embodiment, making second tire protector 22 camber angle that G leaves from the road surface at least) (S27), finish this camber angle and handle with reference to off front wheel 202FR shown in Figure 10 to left and right wheels 2.

Like this; The same with said first embodiment, because the earth contact pressure Rin of first round tire tread 221 increase, and the earth contact pressure Rout of second tire protector 22 reduces (in this embodiment; Earth contact pressure Rout is 0); Thereby can utilize the high adherence properties of first round tire tread 221, prevent wheel 2 locking that occurs skidding, the riding stability that improves vehicle 201 with quicken deceleration and stopping performance.

In addition, preferably give left and right sides two-wheel camber angle θ R, θ L angle same when straight-line travelling.Also have, preferably this camber angle θ R, θ L make second tire protector 22 leave the above angle of road surface G.

On the other hand, when S4 handles, do not reach specified value (S4: not) if judge the operation angle of bearing circle 54; Then sharply turning is not indicated in expression, slowly turns round or the state of straight-line travelling but be in, and also has; Utilize the processing of S1～S3, it is good to infer pavement state, does not have indicating emergency to quicken or emergency braking; Do not predict the generation and the parking of large driving force, turn round about prediction is not followed or the action of turning round of change lane, yet the high adherence properties of indication selection etc.(S1: not, S2: not, S3: not, S17: not, S18: not, S19: not).

Therefore; (S1: not, S2: not, S3: not, S17: not, S18: not, S19: not, S4: not) in this case; The characteristic of wheel 2 need not be high adherence properties; Preferably utilize low-rolling-resistance to obtain to practice thrift combustion expense performance, therefore give normal camber angle (S25), finish this camber angle and handle wheel 2.In addition, in this embodiment, normal camber angle is set at 0 ° (with reference to the near front wheel 202FL shown in Figure 10).

Like this, first round tire tread 221 is in the state that leaves road surface G, can have only second tire protector, 22 ground connection, has therefore reduced wheel 202 single-piece rolling resistance, has further improved the performance of practicing thrift the combustion expense.Also have, can suppress the wearing and tearing of this two tire protectors 221,22 through making earth-free and second tire protector 22 of first round tire tread 221 with 0 ° camber angle ground connection this moment, realizes high lifeization.

Also having, in the processing of S4, is specified value above (S4: be) if judge the operation angle of bearing circle 54, because the chaufeur indication will be carried out sharply turning, might wheel 2 occurs skidding, to overturn appear in vehicle 201.This moment, (the off front wheel 202FR of Figure 10) gave negative camber angle to the turning foreign steamer, and gives normal camber angle (S26) to the interior wheel of turning (the near front wheel 202FL of Figure 10) in this embodiment, finished this camber angle and handled.

Like this, can guarantee turning performance, reduce the controlling and driving cost simultaneously.Promptly; In the turning foreign steamer, because the earth contact pressure Rin of first round tire tread 221 increase, and the earth contact pressure Rout of second tire protector 22 reduces (in this embodiment; Earth contact pressure Rout is 0) (with reference to Figure 10); Thereby can utilize the high adherence properties of first round tire tread 221, prevent that wheel 202 from occurring skidding (upset appears in vehicle 201), improves the turning performance of vehicle 201.On the other hand, in turning, taking turns, the variation through making its camber angle is less than turning foreign steamer (that is, the camber angle when former state is kept straight-line travelling), can reduce controlling cost or the driving cost of camber angle control apparatus 4 of vehicle console device 100.

Then, with reference to Figure 12～Figure 14 the 3rd embodiment is described.Figure 12 is the birds-eye view of the wheel 302 of expression the 3rd embodiment.Also have; Figure 13 is that expression is in the scheme drawing under main the looking of vehicle 301 of turnon left state; Make left and right wheels 2 be in the deflection angle state of left-hand rotation usefulness, make turning foreign steamer (off front wheel 202FR) be in the negative camber angle state, make the interior wheel (the near front wheel 202FL) of turning be in positive camber angle state.

In the first embodiment, the external diameter of two tire protectors 21,22 that wheel 2 has been described is in Width unmodified situation, and in the 3rd embodiment, the first round tire tread 221 of wheel 2 dwindles with the external diameter of third round tire tread 323 gradually.In addition, the part identical with said each embodiment adopts same-sign, omits its explanation.

Shown in figure 12; The wheel 302 of the 3rd embodiment has third round tire tread 323; First round tire tread 221 is configured in the inboard (Figure 12 right side) of vehicle 301; Third round tire tread 323 is configured in the outside (Figure 12 left side) of vehicle 301, and second tire protector 22 is configured between first round tire tread 221 and the third round tire tread 323.

And; At least compare with second tire protector 22, third round tire tread 323 has the characteristic of high grip, and; Shown in figure 12, the outside (Figure 12 left side) of the external diameter of this third round tire tread 323 from second tire protector, 22 sides (Figure 12 right side) towards vehicle 301 be diameter reduction gradually.

Like this, do not give big camber angle (for example, even camber angle is set at 0 °) to wheel 302, first round tire tread 221 is in the state that leaves road surface G with third round tire tread 323, has only second tire protector, 22 ground connection.Like this, reduce wheel 302 single-piece rolling resistance, further improved the performance of practicing thrift the combustion expense.

Simultaneously,, can suppress the wearing and tearing of these tire protectors 221,22,323, realize high lifeization through making earth-free and second tire protector 22 of first round tire tread 221 and third round tire tread 323 with littler camber angle ground connection.

On the other hand; If wheel 302 is given the camber angle (positive camber angle) of positive dirction; Make third round tire tread 323 ground connection; Because the external diameter of this third round tire tread 323 dwindles gradually, thereby the earth contact pressure of third round tire tread 323 can be realized uniformization in the whole zone of Width (Figure 12 left and right directions), can suppress earth contact pressure and concentrate on the tire protector end.

Like this, can effectively utilize the third round tire tread 323 of high adherence properties, further improve rideability (for example the vehicle stabilization performance when turning performance, acceleration capability, deceleration and stopping performance or rainy day etc.), and, can suppress eccentric wear to decrease, realize high lifeization.

The camber angle control of braking of the 3rd embodiment then, is described with reference to Figure 14.Figure 14 is the diagram of circuit of expression camber angle control and treatment.This is handled during the power connection of vehicle console device 100, utilizes CPU71 circulation (for example, every at a distance from 0.2ms) to carry out.

In the processing of S4,, CPU71 do not reach specified value (S4: not), then represent not indicate sharply turning if judging the operation angle of bearing circle 54; Slowly turn round or the state of straight-line travelling but be in, also have, utilize the processing of S1～S3 and S17～S19; It is good to infer pavement state, does not have indicating emergency to quicken or emergency braking, does not predict the generation and the parking of large driving force; Turn round about prediction is not followed or the action of turning round of change lane, also the high adherence properties of indication selection.(S1: not, S2: not, S3: not, S17: not, S18: not, S19: not).

Therefore; (S1: not, S2: not, S3: not, S17: not, S18: not, S19: not, S4 :) can not judge in this case; Performance as wheel 302 need not be high adherence properties; Preferably utilize low-rolling-resistance to obtain to practice thrift combustion expense performance, therefore give normal camber angle (S25), finish this camber angle and handle wheel 2.In addition, in this embodiment, normal camber angle is set at 0 ° (with reference to the near front wheel 202FL shown in Figure 10).

Like this, first round tire tread 221 and third round tire tread 323 are in the state that leaves road surface G, can have only second tire protector, 22 ground connection, therefore can reduce wheel 302 single-piece rolling resistance, have further improved the performance of practicing thrift the combustion expense.Also have, can suppress the wearing and tearing of these tire protectors 221,22,323 through making earth-free and second tire protector 22 of first round tire tread 221 and third round tire tread 323 with 0 ° camber angle ground connection this moment, realizes high lifeization.

Also having, in the processing of S4, is specified value above (S4: be) if judge the operation angle of bearing circle 54, because the chaufeur indication will be carried out sharply turning, might occur skidding by wheel 2, and upset appears in vehicle 301.This moment, (the off front wheel 202FR of Figure 13) gave negative camber angle to the turning foreign steamer, and gives positive camber angle (S36) to the interior wheel of turning (the near front wheel 202FL of Figure 13) in this embodiment, finished this camber angle and handled.

Promptly; Shown in figure 13, in S36 handles, give camber angle θ R, θ L; Left and right wheels 320 is all tilted to turning medial (Figure 13 right side); Therefore on left and right sides two-wheeled 302, produce transverse force respectively, can the transverse force of this two-wheeled 302 be utilized as lateral control force, therefore can further improve turning performance.

Then, with reference to Figure 15 the 4th embodiment is described.Figure 15 is the diagram of circuit of the camber angle control and treatment of expression the 4th embodiment.This is handled during the power connection of vehicle console device 100, utilizes CPU71 circulation (for example, every at a distance from 0.2ms) to carry out.

In the first embodiment, when being described, for example acceleration of chaufeur indicating emergency or sharply turning etc. regulate the situation of the camber angle of wheel 2, in the 4th embodiment, if the wheel 202 that skids is then regulated the camber angle of this wheel 202.

In addition, the part identical with said each embodiment adopts same-sign, omits its explanation.Also have, in the 4th embodiment, casehistory utilizes the situation of the vehicle 201 (wheel 202) of vehicle console device 100 controls second embodiment.

CPU71 at first detects car speed (S41) when the processing of camber angle S4, and the rotative speed (circular velocity) of detection wheel 202 (S42), based on the circular velocity of these car speeds and wheel 202, judges whether to exist the wheel 202 (S43) that skids.In addition, as stated, utilize vehicle speed sensor device 32 and wheel revolutions speed sensor implementations 35 to calculate the circular velocity of car speed and wheel 202.

Its result; In the processing of S43, if judge the wheel 202 do not skid, all high adherence properties of the promptly all wheels 202 (S43: not) that on the G of road surface, goes; The performance that then is judged as wheel 202 need not be high adherence properties; Preferably utilize low-rolling-resistance to obtain to practice thrift combustion expense performance, therefore give normal camber angle (the same with second embodiment is 0 °) (S44), finish this camber angle and handle wheel 202.

Like this, first round tire tread 221 is in the state that leaves road surface G, can have only second tire protector, 22 ground connection, therefore can reduce wheel 202 single-piece rolling resistance, further improves and practices thrift the performance that combustion takes.Also have, can suppress the wearing and tearing of this two tire protectors 221,22 through making earth-free and second tire protector 22 of first round tire tread 221 with 0 ° camber angle ground connection this moment, realizes high lifeization.

In addition; In the processing of S43, if judge the wheel 202 (S43: be) that existence is skidded, because the acceleration capability and the riding stability of vehicle 201 might suffer damage; Therefore give negative camber angle (S45) to the wheel 202 that is skidding, finish this camber angle and handle.

Like this; The same with said first embodiment, because the earth contact pressure Rin of first round tire tread 221 increase, and the earth contact pressure Rout of second tire protector 22 reduces (in this embodiment; Earth contact pressure Rout is 0); Thereby can utilize the high adherence properties of first round tire tread 221, prevent that skidding from appearring in wheel 202, improve the acceleration capability and the riding stability of vehicle 201.

Then, with reference to Figure 16～Figure 19, the 5th embodiment is described.In the first embodiment, explained that the motoring condition of this camber angle and vehicle 1 is irrelevant, keeps the situation of steady state value always when wheel 2 being given negative camber angle or positive camber angle.In the 5th embodiment,, the size of the camber angle of giving wheel 2 is increased and decreased along with the motoring condition of vehicle 1.

In addition, the part identical with said each embodiment adopts same-sign, omits its explanation.Also have, in the 5th embodiment, situation about controlling with the vehicle 1 (wheel 2) that utilizes in 500 pairs first embodiments of vehicle console device is an example, describes.

Figure 16 is the block scheme of electrical structure of the vehicle console device 500 of expression the 5th embodiment.Shown in figure 16, vehicle console device 500 has CPU71, ROM572 and RAM73, and these parts are connected with IO interface 75 via bus 74.In the ROM572 of the 5th embodiment, store friction coefficient conversion figure (マ Star プ) 572a and camber angle conversion Figure 57 2b.In addition, the details of these two conversion Figure 57 2a, 572b, the back describes with reference to Figure 17 and Figure 18.

Condition of road surface switch sensor 558a is for detecting the serviceability of condition of road surface switch (not shown); And this testing result is outputed to the device of CPU71, mainly have the position transduser (not shown) of the serviceability (operating position) that detects the condition of road surface switch and the testing result of this position transduser handled and output to the control circuit (not shown) of CPU71.

In addition, the condition of road surface switch is the operating unit by driver's operation.When chaufeur switches the condition of road surface switch according to the situation of track,, utilize CPU71 to carry out the action control of camber angle setting device 4 along with this serviceability (operating position).Specifically, the condition of road surface switch is made up of the key lock switch of 3 segmentations (3 position model), and primary importance is the drying road of mating formation corresponding to track, and the second place is the road of not mating formation corresponding to track, and the 3rd position is the road of mating formation the rainy day corresponding to track.

Figure 17 is the scheme drawing that has schematically illustrated the content of friction coefficient conversion Figure 57 2a.Friction coefficient conversion Figure 57 2a is the conversion figure of the amount of entering into (operational ton) with the relation of necessary front and back friction coefficient of storage acceleration pedal 52a and brake pedal 53.

CPU71 is based on the content of this friction coefficient conversion Figure 57 2a, calculates the friction coefficient that wheel 2 should be brought into play in the motoring condition of present vehicle 1 (that is, for wheel 2 is not skidded or lock necessary friction coefficient).In addition, the longitudinal axis represent necessary before and after friction coefficient be the friction coefficient that wheel 2 is not skidded or lock necessary vehicle fore-and-aft direction (Fig. 1 above-below direction).

Shown in figure 17; According to this friction coefficient conversion Figure 57 2a; Under the state of not operating acceleration pedal 52 and brake pedal 53, (quicken and brake operating amount=0); Friction coefficient is defined as minimum value μ fmin before and after necessary; And the friction coefficient straight line that is directly proportional with the operational ton (stepping on down amount) of acceleration pedal 52 or brake pedal 53 changes before and after necessary, and when the operational ton of operating acceleration pedal 52 and brake pedal 53 was in maximum rating (acceleration operation amount=100%), necessity front and back friction coefficient was defined as maxim μ fmax.

Figure 18 is the scheme drawing that has schematically illustrated the content of camber angle conversion Figure 57 2b.Camber angle conversion Figure 57 2b has stored the measured value of preliminary test of utilizing wheel 2 for the conversion figure of the relation of friction coefficient and the rolling resistance and the camber angle of storage wheel 2.

CPU71 is based on the content of this camber angle conversion Figure 57 2b, and calculating should be given the camber angle of wheel 2.

In addition, in Figure 18, solid line 501 is corresponding to friction coefficient, and solid line 502 is corresponding to rolling resistance.Also have; In the camber angle of transverse axis, Figure 18 right side (than the side of the big θ a of angle 0 degree) is corresponding to a negative camber angle (that is side of the earth contact pressure of the first round tire tread 21 of high adherence properties increase; With reference to Fig. 5); Figure 18 left side (than the side of the big θ b of angle 0 degree) is corresponding to positive camber angle (that is, the side that the earth contact pressure of second tire protector 22 of low-rolling-resistance increases is with reference to Fig. 6).

Here, in camber angle conversion Figure 57 2b, stored and the cooresponding 3 kinds of conversion of 3 kinds of serviceability of said condition of road surface switch.But in Figure 18 for reduced graph, be convenient to understand, only represented a kind of conversion figure (drying mat formation road use conversion figure) as typical example, omitted other 2 kinds of conversion figure among the figure.

That is, in camber angle conversion Figure 57 2b, stored the drying road of mating formation and mated formation the road with these 3 kinds in conversion figure with conversion figure and rainy day with conversion figure, the road of not mating formation.CPU71 detects the serviceability of condition of road surface switch, when the indication drying is mated formation the road, reads the drying road of mating formation and uses conversion figure.When do not mated formation in the road in indication, read the road of not mating formation and use conversion figure.When the rainy day is mated formation the road in indication, read the rainy day road of mating formation and use conversion figure.Based on this content, the action of control camber angle setting device 4.

Shown in figure 18; According to this camber angle conversion Figure 57 2b; If the regulation camber angle changes to negative camber angle side (θ a side) from 0 degree state (that is, first round tire tread 21 and second tire protector, 22 impartial connected to chassis states), along with this variation; Increase the earth contact pressure (reducing the earth contact pressure of second tire protector 22 of low-rolling-resistance gradually) of the first round tire tread 21 of high adherence properties gradually, thereby increase friction coefficient (and rolling resistance) gradually.

Then, when camber angle reached θ a (below, be called " the second camber angle θ a "), second tire protector 22 left track, has only first round tire tread 21 to contact with track, and friction coefficient reaches maxim μ a.

In addition, even camber angle further changes to the negative camber angle side from the second camber angle θ a, because second tire protector 22 has left track, the variation of friction coefficient can not take place basically, friction coefficient maintains maxim μ a.Also have, the variation of rolling resistance is a maxim at the second camber angle θ a place too, maintains certain value afterwards basically.

On the other hand; Shown in figure 18; The regulation camber angle from 0 degree state (that is, first round tire tread 21 and second tire protector, 22 impartial connected to chassis states) when positive camber angle side (θ b side) changes, along with this variation; Increase the earth contact pressure (reducing the earth contact pressure of the first round tire tread 21 of high adherence properties gradually) of second tire protector 22 of low-rolling-resistance gradually, thereby reduce friction coefficient (and rolling resistance) gradually.

Then, when camber angle reached θ b (below, be called " the first camber angle θ b "), first round tire tread 21 left track, has only second tire protector 22 to contact with track, and friction coefficient reaches minimum value μ b.

In addition, even camber angle further changes to positive camber angle side from the first camber angle θ b, because first round tire tread 21 has left track, the variation of friction coefficient can not take place basically, friction coefficient maintains minimum value μ b.Also have, the variation of rolling resistance is a minimum value at the first camber angle θ b place too, maintains certain value afterwards basically.

Here, after parallel the moving of direction that dry pavement is diminished along friction coefficient with the solid line of conversion figure, conversion figure is used with conversion figure and the rainy day road surface of mating formation in the road surface of not mating formation that obtains omitting among Figure 18 expression.That is, in any conversion, friction coefficient is that minimum value or peaked camber angle all are the first or second camber angle θ a, θ b.

The camber angle control and treatment of the 5th embodiment then, is described with reference to Figure 19.Figure 19 is the diagram of circuit of expression camber angle control and treatment.This is handled during the power connection of vehicle console device 500, utilizes CPU71 circulation (for example, every at a distance from 0.2ms) to carry out.

CPU71 at first judges condition of road surface (S51) when the camber angle control and treatment.During this is handled, utilize condition of road surface switch sensor device 558a (with reference to Figure 16) to confirm testing result, obtain the serviceability of chaufeur road pavement situation switch.That is, as stated, when CPU71 was in primary importance at the operating position of confirming the condition of road surface switch, the judgement condition of road surface was a dry pavement, if be in the second place, then is judged as the road surface of not mating formation, if be in the 3rd position, then was judged as the rainy day road surface of mating formation.

Then, in the processing of S52, detect the serviceability (S52) of acceleration pedal 52 and brake pedal 53, from friction coefficient conversion Figure 57 2a (with reference to Figure 17), read and the cooresponding necessary front and back of the serviceability of this detection friction coefficient (S53).Like this, can obtain to wheel 2 not being skidded or locking the friction coefficient of necessary vehicle fore-and-aft direction (Fig. 1 above-below direction).

Then, in the processing of S54, detect wheel 2 deflection angle and vehicle 1 ground speed (speed of a motor vehicle) (S54), calculating necessary side friction coefficient (S55) from the deflection angle of this detection and the speed of a motor vehicle.In addition, as stated, CPU71 detects the deflection angle of wheel 2 and the ground speed of vehicle 1 based on the testing result of steering wheel sensor device 54a and vehicle speed sensor device 32.

Here, necessary side friction coefficient is in the vehicle 1 in turning driving, for making the do not skid friction coefficient of necessary vehicle fore-and-aft direction (Fig. 1 left and right directions) of its wheel 2, explanatorily calculates as follows.

That is, at first, can utilize formula tan σ=I/R0 to represent the relation between the wheelbase I of deflection angle σ, A Kaman turn radius R0 and vehicle 1 of wheel 2.When deflection angle σ was very little, this relational expression can approximate representation be deflection angle σ=I/R0.After this formula is out of shape for A Kaman turn radius R0, can obtain R0=I/ σ.

On the other hand, through utilizing margin of stability K,, can utilize formula R/R0=1+Kv2 to represent the relation of ground speed (speed of a motor vehicle) v of actual turn radius R and the vehicle 1 of vehicle 1 from the cornering properties of vehicle 1 to vehicle 1 actual measurement.This formula is out of shape for actual turn radius R, and the A Kaman turn radius R0 that try to achieve the substitution front can obtain R=I (1+Kv2)/σ.

Here, if the weight of vehicle 1 is m, the centnifugal force F that acts on during turning driving on the vehicle 1 can be expressed as F=mv2/R.With the actual turn radius R that try to achieve its substitution front, can obtain F=mv2 σ/(I (1+Kv2)).Owing to avoid the friction force μ w that wheel 2 skids along transverse direction (left and right directions of vehicle 1) only to need therefore to remove this centnifugal force F, can necessary side friction coefficient table be shown μ w=F/m=v2 σ/(I (1+Kv2)) with weight m greater than this centnifugal force F.

After in the processing of S53 and S55, obtaining necessary front and back friction coefficient and necessary side friction coefficient; Based on friction coefficient and necessary side friction coefficient before and after these necessity (promptly; As making a concerted effort) towards the vector of the fore-and-aft direction of vehicle 1 and left and right directions; Calculate necessary friction coefficient (S56), transfer to the processing of S57 then.

In the processing of S57, the maxim μ a and the minimum value μ b of the friction coefficient that necessary friction coefficient that the processing of S56 is calculated and wheel 2 can be brought into play compare, and judge whether necessary friction coefficient is between maxim μ a and the minimum value μ b (S57).

In addition, as stated, from camber angle conversion Figure 57 2b (with reference to Figure 18), read the maxim μ a and the minimum value μ b of the friction coefficient that wheel 2 can bring into play.Also have, this moment, CPU71 selected from 3 kinds of conversion figure and the cooresponding conversion figure of condition of road surface that in the processing of S51, differentiates, and based on the content of selected conversion figure, read maxim μ a and minimum value μ b.

Judged result as S57; If necessary friction coefficient is in the following minimum value μ b of maxim μ a above (S57: be); Then from camber angle conversion Figure 57 2b, read the camber angle (S58) of corresponding with necessary friction coefficient (that is, the friction coefficient that equates with necessary friction coefficient), give processing as camber angle; Give this camber angle that reads (S59) for wheel 2, finish this camber angle control and treatment then.

Specifically; At this moment; Because the necessary friction coefficient that for example in the processing of S56, calculates is μ x; And μ b≤μ x≤μ a (S57: be) therefore reads and this necessity coefficientoffriction cooresponding camber angle θ x of x (S58) from camber angle conversion Figure 57 2b shown in Figure 180, gives the camber angle θ x (S59) that this reads for wheel 2.

Like this, can the change of the friction coefficient of wheel 2 performance be controlled at necessary MIN friction coefficient, it is hereby ensured necessary acceleration deceleration and stopping performance and turning performance, simultaneously rolling resistance is suppressed at littler value, further realize practicing thrift the combustion expense.

On the other hand, be not in (S57: not), judge then that then whether necessary friction coefficient is less than minimum value μ b (S60) more than the following minimum value μ b of maxim μ a if in S57, judge necessary friction coefficient.Its result less than minimum value μ b (S60: be), then gives first camber angle (S61) for wheel 2 if judge necessary friction coefficient, finishes this camber angle control and treatment then.

Specifically; At this moment; The necessary coefficientoffriction y that in the processing of S56, calculates as stated, does not read the cooresponding camber angle with this necessity coefficientoffriction y less than μ b (μ y＜μ b) (S60: be) from camber angle conversion Figure 57 2b shown in Figure 180; But the camber angle that will give wheel 2 is confirmed as the first camber angle θ b, and gives wheel 2 (S61) with it.

Like this, shown in figure 18, in this embodiment; During the minimum value μ b of the friction coefficient that can bring into play less than wheel 2 as the necessary coefficientoffriction y that calculates in the processing at S56; Even judge and give the camber angle of absolute value greater than the first camber angle θ b to wheel 2, can not further reduce rolling resistance (realizing practicing thrift going of combustion expense), therefore give the minimum angles in the scope that can bring into play minimum value μ b (near the angle of 0 degree) to wheel 2; That is the first camber angle θ b.Like this, camber angle can be avoided unnecessarily increasing, the riding stability of vehicle 1 can be guaranteed.

On the other hand; In the processing of S60; In the time of can not judging necessary friction coefficient less than minimum value μ b (S60: not), because necessary friction coefficient is greater than maxim μ a, (S60 :) do not give second camber angle (S62) at this moment for wheel 2; And circulate a notice of to handle (S63), finish this camber angle control and treatment then.

Specifically; At this moment, the necessary coefficientoffriction z that in the processing of S56, calculates is greater than maxim μ a (μ b＜μ z) (S60: not), as noted above; From camber angle conversion Figure 57 2b shown in Figure 180, do not read with the cooresponding for example camber angle of this necessity coefficientoffriction z θ z; At this moment, the camber angle of giving wheel 2 is confirmed as the second camber angle θ a, and give wheel 2 (S62) it.

Like this, in this embodiment, shown in figure 18; During the maxim μ a of the friction coefficient that can bring into play greater than wheel 2 as the necessary coefficientoffriction z that calculates in the processing at S56; Give the big camber angle of absolute value even judge to wheel 2, also can further not increase friction coefficient (raising adherence properties), therefore give the minimum angles in the scope that to bring into play maxim μ a (near the angle of 0 degree) wheel 2 greater than the second camber angle θ a; That is the second camber angle θ a.Therefore camber angle can be avoided unnecessarily increasing, the riding stability of vehicle 1 can be guaranteed.

Here, circular is handled (S63) for through loud speaker output and on read-out, show because urgent the acceleration or wheels 2 such as emergency braking (or possibility) situation of skidding or locking circulated a notice of to chaufeur.In addition, when vehicle 1 is in acceleration mode, also can in the processing of S63, reduce the operation (for example, vehicle 1 is braked, or reduced the output of driving engine etc.) of the speed of vehicle 1 through operation of braking means.Like this, can not rely on the operation of chaufeur and mechanically reduce the speed of vehicle 1, can improve safety.

Then, with reference to Figure 20 the 6th embodiment is described.In the 5th embodiment, the situation that the first round tire tread 21 and second tire protector 22 are set at wheel 2 has been described.In the 6th embodiment, the same with said the 3rd embodiment, at wheel 302 first round tire tread 221, second tire protector 22 and third round tire tread 323 are set.

In addition, the part identical with said each embodiment adopts same-sign, omits its explanation.Also have, in the 6th embodiment, the situation that casehistory utilizes the vehicle 301 (wheel 302 is with reference to Figure 12 or Figure 13) in 500 pairs the 3rd embodiments of vehicle console device in the 5th embodiment to control.But of the back, the structure of the camber angle conversion of the 6th embodiment is different with the 5th embodiment.

Figure 20 is the scheme drawing that has schematically illustrated the camber angle content transformed of the 6th embodiment.Camber angle conversion figure is the conversion figure of relation of friction coefficient and the rolling resistance and the camber angle of storage wheel 302, has stored the measured value of preliminary test of utilizing wheel 302.The same with said the 5th embodiment, CPU71 is based on the content of this camber angle conversion, and calculating should be given the camber angle of wheel 302.

In addition, in Figure 20, solid line 601 is corresponding to friction coefficient, and solid line 602 is corresponding to rolling resistance.Also have, the same with the 5th embodiment in the 6th embodiment, stored and the corresponding 3 kinds of conversion figure of 3 kinds of serviceability of condition of road surface switch at camber angle conversion figure.Understand easily for reduced graph, in Figure 20, only represented a kind of conversion figure (drying mat formation road use conversion figure), omitted other 2 kinds of conversion figure among the figure as typical example.

Shown in figure 20, according to the camber angle conversion figure of the 6th embodiment, if camber angle is from 0 degree state (promptly; Have only second tire protector, 22 ground connection; First leaves the state of track with third round tire tread 221,323) change to negative camber angle side (θ bn side), owing to before camber angle arrives θ bn, have only second tire protector, 22 ground connection; First round tire tread 221 (and third round tire tread 323) leaves track, so friction coefficient maintains minimum value μ b.In addition, rolling resistance maintains minimum value in this interval too.

Then; When camber angle changes to negative camber angle side (θ an side) from θ bn; Along with this changes, because the earth contact pressure of the first round tire tread 221 of high adherence properties increases (earth contact pressure of second tire protector 22 of low-rolling-resistance reduces gradually) gradually, friction coefficient (and rolling resistance) increases gradually.

Then, when camber angle reaches θ an (below be called " the 3rd camber angle θ an "), second tire protector 22 leaves track, has only first round tire tread 221 and track ground connection, and friction coefficient reaches maxim μ a.

At this moment; Even camber angle further changes to negative camber angle side (Figure 20 right side) from the 3rd camber angle θ an; Because second tire protector 22 has left track; Have only first round tire tread 221 and track ground connection, therefore can not occur the variation of friction coefficient basically, friction coefficient maintains maxim μ a.Also have, rolling resistance is a maxim when camber angle reaches the 3rd camber angle θ an too, maintains certain value afterwards basically.

Equally, shown in figure 20, if camber angle is from 0 degree state (promptly; Have only second tire protector, 22 ground connection; First leaves the state of track with third round tire tread 221,323) change to positive camber angle side (θ bp side), owing to before camber angle arrives θ bp, have only second tire protector, 22 ground connection; Third round tire tread 323 (and first round tire tread 221) leaves track, so friction coefficient maintains minimum value μ b.In addition, rolling resistance maintains minimum value in this interval too.

Then; When camber angle changes to positive camber angle side (θ ap side) from θ bp; Along with this changes, because the earth contact pressure of the third round tire tread 323 of high adherence properties increases (earth contact pressure of second tire protector 22 of low-rolling-resistance reduces gradually) gradually, friction coefficient (rolling resistance) increases gradually.

Then, when camber angle reaches θ ap (below be called " the inclination angle theta ap " all round), second tire protector 22 leaves track, has only third round tire tread 323 and track connected to chassis state, and friction coefficient reaches maxim μ a.

At this moment; Even camber angle from all round inclination angle theta ap further change to positive camber angle side (Figure 20 left side); Because second tire protector 22 has left track; Have only third round tire tread 323 and track ground connection, therefore can not occur the variation of friction coefficient basically, friction coefficient maintains maxim μ a.Also have, rolling resistance is a maxim during inclination angle theta ap when camber angle reaches the too all round, maintains certain value afterwards basically.

The camber angle control and treatment of the 6th embodiment then, is described with reference to Figure 21.Figure 21 is the diagram of circuit of expression camber angle control and treatment.This is handled when the power connection of vehicle console device 500, utilizes CPU71 circulation (for example, every at a distance from 0.2ms) to carry out.

In the 6th embodiment; The same with the 5th embodiment; CPU71 is when the camber angle control and treatment; At judgement condition of road surface (S51) afterwards, judge the serviceability (S52) that detects acceleration pedal 52 and brake pedal 53, from friction coefficient conversion Figure 57 2a (with reference to Figure 17), read and the cooresponding necessary front and back of the serviceability of this detection friction coefficient (S53).

Then; After the processing of carrying out S53; Detect wheel 302 deflection angle and vehicle 1 ground speed (speed of a motor vehicle) (S54), from the deflection angle of this detection and the speed of a motor vehicle, calculate necessary friction coefficient (S55), based on necessary front and back friction coefficient and necessary side friction coefficient; Calculate necessary friction coefficient (S56), judge whether the necessary friction coefficient that is calculated is in below the maxim μ a and minimum value μ b above (S57).

Its result, if necessary friction coefficient is in below the maxim μ a and minimum value μ b above (S57: be), judges then whether the operation angle of bearing circle 54 is more than the specified value, and promptly whether chaufeur is indicated and will be stipulated above turning (sharply turning) (S601).

Its result; Indication will be carried out sharply turning if the operation angle of bearing circle 54, then is judged as chaufeur greater than specified value (S601: be), might occur skidding; In this embodiment; From camber angle conversion figure shown in Figure 20, read cooresponding with necessary friction coefficient (friction coefficient that promptly equates with necessary friction coefficient) camber angle, the turning foreign steamer is the negative camber angle and interior the wheel to the camber angle of positive camber angle (S658) of turning, and gives processing as camber angle; Give this camber angle that reads (S59) for wheel 302, finish this camber angle control and treatment then.

Like this, as the 3rd embodiment, can be after giving camber angle, the wheel 320 about making is all to turning medial inclination (with reference to Figure 13).Its result can produce transverse force respectively by two-wheeled 302 in the left and right sides, and the transverse force of this two-wheeled 302 is used as lateral control force, thereby further improve turning performance.

On the other hand; In the processing of S601, be not more than specified value (S601: not), then be judged as not indication and carry out sharply turning if judge the operation angle of bearing circle 54; But compare mild turning or straight-line travelling; In this embodiment, from camber angle conversion figure shown in Figure 20, reading cooresponding (friction coefficient that promptly equates with necessary friction coefficient) camber angle with necessary friction coefficient and left and right sides two-wheeled is the camber angle (S602) of negative camber angle, gives processing as camber angle; Give this camber angle that reads (S59) for wheel 302, finish this camber angle control and treatment then.The attitude that can stably keep like this, vehicle 301.

On the other hand, be not in below the maxim μ a and (S57: not), judge then that then whether necessary friction coefficient is less than minimum value μ b (S60) more than the minimum value μ b if in S57, judge necessary friction coefficient.Less than minimum value μ b (S60: be), then give normal camber angle (S661) if judge necessary friction coefficient, finish this camber angle control and treatment then for wheel 302.

In addition, in this embodiment, normal camber angle is set at 0 degree.Like this, because first round tire tread 221 is in the state that leaves track with third round tire tread 323, have only second tire protector, 22 ground connection, therefore can further reduce wheel 302 single-piece rolling resistance, further raising is practiced thrift combustion and is taken performance.In addition, this moment, first round tire tread 221 was earth-free with third round tire tread 323, and therefore second tire protector 22 can suppress the abrasion of each tire protector 221,22,323 with the camber angle ground connection of 0 degree, realization high lifeization.In addition, camber angle can be avoided unnecessarily increasing, the riding stability of vehicle 1 can be guaranteed.

On the other hand; In the processing of S60; If can not judge that necessary friction coefficient is less than minimum value μ b; Be necessary friction coefficient (S60: not), judge then whether the operation angle of bearing circle 54 is more than the specified value, and promptly whether chaufeur is indicated and will be stipulated above turning (sharply turning) (S603) during greater than maxim μ a.

Its result; If judging the operation angle of bearing circle 54 is specified value above (S604: be); Then be judged as the chaufeur indication and will carry out sharply turning, might occur skidding, in this embodiment; Give said the 3rd camber angle to the turning foreign steamer, and give said the inclination angle (S605) all round wheel in turning.

Like this, the turning foreign steamer is in negative camber angle, and wheel is in positive camber angle in turning, as the 3rd embodiment, and can be at the wheel about giving camber angle, making 320 all to turning medial inclination (with reference to Figure 13).Its result can produce transverse force respectively by two-wheeled 302 in the left and right sides, and the transverse force of this two-wheeled 302 is used as lateral control force, thereby further improve turning performance.

On the other hand, in the processing of S603, be not more than specified value (S603: not) if judge the operation angle of bearing circle 54; Then be judged as not indication and carry out sharply turning; But compare mild turning or straight-line travelling, in this embodiment, give the 3rd camber angle (S604) to left and right sides two-wheeled.Like this, give negative camber angle, can keep the attitude stability of vehicle 301 left and right sides two-wheeled.

In addition; In this embodiment; The same with said the 5th embodiment, during the maxim μ a of the friction coefficient that can bring into play greater than wheel 2 when the necessary friction coefficient of calculating in the processing at S56, wheel 302 is given greater than the 3rd or big camber angle of absolute value at inclination angle all round even judge; Can further not increase friction coefficient (raising adherence properties) yet; Therefore give the minimum angles in the scope that can bring into play maxim μ a (near the angle of 0 degree) to wheel 302, that is, and the 3rd or the inclination angle all round.Therefore camber angle can be avoided unnecessarily increasing, the riding stability of vehicle 301 can be guaranteed.

Carry out after the processing of S604 or S605, carry out circular and handle (S63), finish this camber angle control and treatment then.

Then, with reference to Figure 22 to Figure 24 the 7th embodiment is described.In said each embodiment; Explained for 4 wheel 2FL～2RR all to receive the situation that 4 wheel drive vehicles (vehicle 1) that wheel driver 3 drives carry out camber angle control that the 7th embodiment is to be to receive drive wheel, back left and right wheels 2RL, the 2RR that wheel driver 3 drives to carry out camber angle control for 2 wheel drive vehicles with the driven flower wheel of drive wheel (wheel 2FL, 2FR) for preceding left and right wheels 2FL, 2FR.

Though not special diagram; The vehicle of the 7th embodiment (vehicle 1 ') is in the vehicle 1 of said first embodiment; Omitted the RL motor 3RL and the RR motor 3RR that drive back revolver 2RL and rear right wheel 2RR respectively, and the controller of vehicle that will control this vehicle 1 ' changes to controller of vehicle 700 from controller of vehicle 100.In addition, the part identical with said each embodiment adopts same-sign, omits its explanation.

Figure 22 is the block scheme of electrical structure of the vehicle console device of expression the 7th embodiment.Shown in figure 22, vehicle console device 700 has CPU71, has ROM572 and the RAM73 of friction coefficient conversion Figure 57 2a and camber angle conversion Figure 57 2b, and these parts are connected with IO interface 75 via bus 74.

On the IO interface 75 of the 7th embodiment, connecting mechanical brake control setup 300.This mechanical type braking force control system 300 is given each wheel 2FL～2RR along with the serviceability (amount of entering into, the speed of stepping on down etc.) of the brake pedal 53 of chaufeur generation with the braking force that mechanical brake produces.

When utilizing brake pedal sensor 53a to detect the serviceability of the brake pedal 53 that chaufeur produces, this testing result is outputed to CPU71.CPU71 sets the amount of giving of mechanical brake (hydraulic brake), and outputs to mechanical brake control setup 300 based on this testing result.Mechanical brake control setup 300 is based on this amount of giving, and the hydraulic pressure of the brake actuator (not shown) of each wheel 2FL～2RR is given in control.Its result, last at each wheel 2FL～2RR, give the braking force that produces with the corresponding mechanical brake of the serviceability of brake pedal 53.

On the other hand, FL motor 3FL and the FR motor 3FR of revolver 2FL and front right wheel 2FR constitute regenerative braking device with regenerative circuit (not shown) before driving respectively, the effect of performance regeneration motor.Be not built-in with the inverter that alternating current is transformed to DC current in the regenerative circuit of expression among the figure; Based on control signal from CPU71; These motors 3FL, 3FR are played a role as the regeneration motor, thereby the electric power that these motors 3FL, 3FR are produced supplies to battery (not shown).That is, the vehicle 1 of the 7th embodiment is braked through motor 3FL, the regenerative brake of 3FR and the coordination of mechanical braking (hydraulic braking).

Here, Figure 23 is the scheme drawing of correlativity of serviceability and braking force of brake pedal 53 of the vehicle 1 ' of expression the 7th embodiment.In scheme drawing shown in Figure 23, transverse axis is represented the legpower of the brake pedal 53 that brake pedal sensor device 53a is detected, turn right more (right side of Figure 23), and the legpower of expression brake pedal 53 is big more.On the other hand, the longitudinal axis representes to give the braking force of vehicle 1, more past upside (upside of Figure 23), and the braking force that vehicle 1 is given in expression is big more.

Here, in Figure 23, dotted line 701 is corresponding to the single-piece braking force.Shown in figure 23, when driver's operation brake pedal 53, the proportional increase of legpower of single-piece braking force and brake pedal 53.

Also have, in Figure 23, the braking force that solid line 702 produces corresponding to regenerative brake, the braking force that solid line 703 produces corresponding to mechanical braking.Shown in figure 23, begin to step on down brake pedal 53 from chaufeur, till the legpower arrival " X " of brake pedal 53, the single-piece braking force is born by the braking force that regenerative brake produces.That is, when the legpower of brake pedal 53 was in the scope from " 0 " to " X ", CPU71 was to wheel driver 3 (motor 3FL, 3FR) output control signal, from regenerative brake, to obtain and the corresponding whole braking forces of the legpower of brake pedal 53.

And,,, carry out the coordination braking of regenerative brake and mechanical braking when the legpower of brake pedal 53 is " X " when above along with increase based on the legpower of the brake pedal 53 of chaufeur.Promptly; Legpower at brake pedal 53 is in the scope more than " X "; CPU71 is corresponding with the legpower of brake pedal 53; Set the amount of giving (braking force) of regenerative brake and the amount of giving (braking force) of mechanical braking respectively, the braking force that sets is outputed to wheel driver 3 (motor 3FL, 3FR) and mechanical type braking force control system 30.Like this, when the legpower of brake pedal 53 is " X " when above, begin to utilize mechanical braking that back left and right wheels 2RL, 2RR as flower wheel are braked.

Then, explain that with reference to Figure 24 the camber angle of the 7th embodiment gives processing (S59).Figure 24 is the diagram of circuit that the expression camber angle is given processing (S59).In addition, to give processing (S59) be the processing that moves in the camber angle control and treatment of said the 5th embodiment to this camber angle.

Shown in figure 24, give processing (S59) according to this camber angle, confirm to utilize necessary side friction coefficient that the processing of S55 calculates whether less than threshold value " M " (necessary side friction coefficient＜M) (S591).Utilize S591 to handle the result who confirms; If necessary side friction coefficient＜M; Promptly; When because turn radius mild (comprising craspedodromes) and be that reason such as low speed turning makes the centnifugal force (S591: be) less than with the cooresponding centnifugal force of necessary side friction coefficient " M " time of vehicle 1 ' confirms whether the braking legpower not have to arrive the boundary " M " that mechanical brake is moved and (brake legpower＜M) (S592).

Utilize S592 to handle the result who confirms; If braking legpower＜X; That is, when all bearing (S592: be), only give drive wheel 2FL, 2FR (S593) with the camber angle that the processing of S58 is read by regenerative brake with the cooresponding all braking forces of the legpower of brake pedal 53.

Like this, give processing (S59), when only giving the braking force of regenerative brake generation, only preceding left and right wheels 2FL, 2FR are given and the corresponding camber angle of necessary friction coefficient preceding left and right wheels 2FL, 2FR as drive wheel according to this camber angle.

Like this, when only to preceding left and right wheels 2FL, 2FR as drive wheel give braking force that regenerative brake produces, to as the back left and right wheels 2RL of flower wheel, when 2RR does not give braking force, the high grip of performance back left and right wheels 2RL, 2RR becomes nonsensical.Therefore, in this occasion,, can suppress to make these flower wheels (back left and right wheels 2RL, 2RR) to bring into play insignificant high grip through back left and right wheels 2RL, 2RR as flower wheel not being carried out the control of giving with the corresponding camber angle of necessary friction coefficient.Its result in the vehicle 1 ' with drive wheel 2FL, 2FR and flower wheel 2RL, 2RR, can further realize practicing thrift the combustion expense.

On the other hand; Utilize S592 to handle the result who confirms; That if the braking legpower be " X " is above (the braking legpower >=X), that is, and in the time of also will giving braking force according to the legpower of brake pedal 53 for flower wheel 2RL, 2RR (S592: deny); The camber angle that then will utilize the processing of S58 to read is given all wheels 2, and (2FL～2RR) (S596) finishes this camber angle then and gives processing (S59).

Like this; Give processing (S59) according to this camber angle; When (2FL～in the time of 2RR) will giving braking force is owing to be drive wheel 2FL, 2FR, at flower wheel 2RL, 2RR is last also gives and the corresponding camber angle of necessary friction coefficient incessantly to all 4 wheels 2; Therefore for all wheels 2 (2FL～2RR), wheel 2 is brought into play in order to suppress the required friction coefficient of skidding of each wheel 2 reliably.Its result can improve the deceleration and stopping performance of the vehicle 1 ' with drive wheel 2FL, 2FR and flower wheel 2RL, 2RR effectively.

Also have; Utilize S591 to handle the result who confirms; If necessary side friction coefficient greater than M (necessary side friction coefficient >=M), that is, when because reasons such as sharply turning or tempo turn make the centnifugal force of vehicle 1 ' for the cooresponding centnifugal force of necessary side friction coefficient " M " when above (S591: deny); The camber angle that then will utilize the processing of S58 to read is given all wheels 2, and (2FL～2RR) (S596) finishes this camber angle then and gives processing (S59).

Like this; Give processing (S59) according to this camber angle; When because reasons such as sharply turning or tempo turn make the centnifugal force of vehicle 1 ' be the threshold value of regulation when above, owing to being drive wheel 2FL, 2FR incessantly, at flower wheel 2RL, 2RR is last also gives and the corresponding camber angle of necessary friction coefficient; Therefore for all wheels 2 (2FL～2RR), wheel 2 is brought into play in order to suppress the required friction coefficient of skidding of each wheel 2 reliably.Its result can improve the turning performance (and quicken deceleration and stopping performance) of the vehicle 1 ' with drive wheel 2FL, 2FR and flower wheel 2RL, 2RR effectively.

Also have; After S593 handles; Whether the camber angle of confirming flower wheel 2RL, 2RR is more near the camber angle (S594) of negative camber angle side (that is, the θ a side of Figure 18), if the camber angle of flower wheel 2RL, 2RR is more near negative camber angle side (S594: be) than the first camber angle θ b than the first camber angle θ b; Then give the first camber angle θ b (S595), finish this camber angle then and give processing (S59) flower wheel 2RL, 2RR.On the other hand, if the camber angle of flower wheel 2RL, 2RR is not more near negative camber angle side (S594: not), then directly finish this camber angle and give processing (S59) than the first camber angle θ b.

Like this; Give processing (S59) according to this camber angle, when the processing that utilizes S593 is only given with the corresponding camber angle of friction coefficient to drive wheel 2FL, 2FR, promptly; When letting the saving combustion expense property of flower wheel 2RL, 2RR have precedence over high grip; If the camber angle of flower wheel 2RL, 2RR be than the first camber angle θ b more near the camber angle of negative camber angle side, that is, make the rolling resistance of flower wheel 2RL, 2RR become the big camber angle of rolling resistance than the first camber angle θ b; Because the camber angle of this flower wheel 2RL, 2RR is set at the first camber angle θ b, so the rolling resistance of this flower wheel 2RL, 2RR can reduce.Its result in the vehicle 1 ' with drive wheel 2FL, 2FR and flower wheel 2RL, 2RR, can further realize practicing thrift combustion expense performance.

As above explanation; According to the 7th embodiment; In vehicle 1 ', give at any time and the corresponding camber angle of friction coefficient for drive wheel 2FL, 2FR, on the other hand with drive wheel 2FL, 2FR and flower wheel 2RL, 2RR; In the time need not giving high grip, then do not carry out and the giving of the corresponding camber angle of friction coefficient flower wheel 2RL, 2RR.Like this, owing to do not give insignificant high grip, therefore can further realize practicing thrift combustion expense performance to flower wheel 2RL, 2RR.

Based on embodiment the present invention has been described above, but the present invention is not limited to said embodiment, is easy to learn, in the scope that does not break away from purport of the present invention, can carry out various improvement distortion.

For example, the numerical value of enumerating in the said embodiment is an example, can certainly adopt other numerical value.Also have, the part of the structure in said each embodiment or all certainly with other embodiments in structure a part or all make up.

In said first～the 3rd embodiment; Explained that the operational ton (amount of entering into) of acceleration pedal 52 or the brake pedal 53 of driver's operation gives the situation (with reference to S2, S3 and the S6 of Fig. 7) of negative camber angle when above to wheel 2 for specified value; But be not limited thereto, can certainly confirm the camber angle of wheel 2 based on other quantity of state.Equally; In said the 5th to the 6th embodiment; Explained that the operational ton (amount of entering into) that utilizes acceleration pedal 52 or brake pedal 53 constitutes the situation of the parameter (transverse axis) of friction coefficient conversion Figure 57 2a, but be not limited thereto, can certainly utilize other quantity of state to constitute parameter.

Here, as other quantity of state, can enumerate the operating speed of acceleration pedal 52 for example or brake pedal 53.For example, even the amount of entering into of acceleration pedal 52 or brake pedal 53 is identical, if its operating speed greater than (less than) a reference value, also can give negative camber angle (positive camber angle).

Perhaps, as other quantity of state, can enumerate the gear-change operation of variable-speed motor.For example, when carrying out gear shift (subtracting the shelves operation) for the deceleration/decel that improves variable-speed motor, judge owing to this gear-change operation produces bigger acceleration and deceleration, thereby also can give negative camber angle wheel 2.Like this, can suppress skidding or locking of wheel 2, improve the acceleration capability or the deceleration and stopping performance of vehicle 1.

In said first～the 3rd embodiment; The operation angle that the bearing circle 54 of driver's operation has been described is specified value is given negative camber angle when above to wheel 2 a situation (with reference to S4 and the S6 of Fig. 7); But be not limited thereto, can certainly confirm the camber angle of wheel 2 based on other quantity of state.

Here, as other quantity of state, can enumerate the for example operating speed of bearing circle 54.For example, even the operation angle of bearing circle 54 is identical, if its operating speed greater than (less than) a reference value, also can give negative camber angle (positive camber angle).

In said first～the 3rd embodiment; Explained as (deceleration) state of acceleration decision mechanism; Carry out the example of judgment processing based on the serviceability of each pedal 52,53; But be not limited thereto, for example, can certainly judge based on the acceleration-deceleration of the reality of utilizing vehicle speed sensor 32 (fore-and-aft direction acceleration pick-up 32a, left and right directions acceleration pick-up 32b) to detect.That is, also can work as acceleration-deceleration that vehicle produces and be specified value when above, give negative camber angle, when not reaching specified value, give positive camber angle wheel 2 to wheel 2.At this moment, can judge, perhaps, also can be only judge based on any the acceleration-deceleration in this both direction based on the acceleration-deceleration of the both direction of vehicle fore-and-aft direction and left and right directions.

In said first～the 3rd embodiment; Explained and carried out the example of judgment processing based on the serviceability of wiper switch 55, but be not limited thereto as the road surface decision mechanism; For example; Can certainly utilize rain sensor to detect moisture conditions,, give negative camber angle wheel 2 when this detected value is specified value when above.Perhaps; Also can utilize detection ground-surface states such as non-contacting optical sensor; Based on this testing result (ground-surface moisture film state, ground-surface accumulated snow state, ground-surface frozen state or the state etc. of mating formation), give negative camber angle or positive camber angle to wheel 2.

In said first～the 3rd embodiment; As the order that judges whether to give negative camber angle; The order of state of state, bearing circle 54 that has adopted state, the high grip switch 57 of state, the flash light switch 56 of state, the car speed of state, the brake pedal 53 of state, the acceleration pedal 52 of wiper switch 55 is (with reference to S1～S4); But be not limited to this order, certainly these contents be arranged in other orders again.Also have, can certainly omit the part in these determining steps.

In said embodiment; Explained that camber angle θ R, θ L that left and right wheels 2 is given are the situation of equal angular (θ R=θ L); But be not limited thereto, for example, can certainly give camber angle θ R, the θ L (θ R＜θ L or θ L＜θ R) that has nothing in common with each other left and right wheels 2.

In said first～the 3rd embodiment, explained that first round tire tread 21,221 is configured in vehicle interior side, second tire protector 22 is configured in the situation of vehicle outside, but is not limited to this position relation, certainly suitably changes each wheel 2.

For example, can first round tire tread 21,221 be configured in vehicle outside, second tire protector 22 is configured in vehicle interior side.Also can first round tire tread 21,221 be configured in vehicle outside, and second tire protector 22 be configured in vehicle interior side at the trailing wheel place at the front-wheel place.Perhaps, also can make the position relation of each wheel 2 all inequality.

In said second～the 4th embodiment, explained that normal camber angle is 0 ° a situation, but be not limited thereto, also can normal camber angle be set at negative incidence or positive rake.

In said embodiment, explained that wheel is the situation with 2 kinds of tire protectors and 3 kinds of tire protectors, can certainly make up these wheels.For example, front-wheel adopts the wheel 2,202 with 2 kinds of tire protectors, and trailing wheel adopts the wheel 303 with 3 kinds of tire protectors.Vice versa.

In said embodiment; Explained first or third round tire tread 21,221,323 have high adherence properties, second tire protector 22 and have less than first or the situation of the low-rolling-resistance of third round tire tread 21,221,323 greater than second tire protector 22, can certainly make these tire protectors 21,221,22,323 have other characteristic.For example, can make one of them tire protector have high drainage through 2 kinds of tire tread patterns (ditch mortise) are set, other tire protector has little node noise.

In said the 4th embodiment; Explained according to wheel 2 and whether skidded situation that the camber angle of wheel 2 is controlled (with reference to the S43 of Figure 15～S45); But be not limited thereto, can certainly control the camber angle of wheel 2 based on other state.

As other state, for example, the ground-surface coefficientoffriction that can go for wheel 2.As stated, can utilize ground connection load sensor 34 to infer coefficientoffriction.Perhaps, also can whether lock, come the camber angle of wheel 2 is controlled (giving negative camber angle during locking) based on wheel 2.

In said the 5th to the 6th embodiment; Explained in friction coefficient conversion Figure 57 2a; The variation of necessity front and back friction coefficient of acceleration operation amount and the situation that is changed to same variation (with reference to Figure 17) of the necessary front and back friction coefficient of brake operating amount relatively relatively; Said structure is merely an example, can certainly be other structures.

For example, the maxim of the necessary front and back friction coefficient of acceleration operation amount 100% can be different values with the maxim of the necessary front and back friction coefficient of brake operating amount 100%.Also have, explained with respect to variations such as acceleration operation amount, the situation that necessary front and back friction coefficient linearly changes, but said variation can certainly curvedly change.

In said the 5th to the 6th embodiment, explained that 500 of vehicle console devices have the situation of 1 friction coefficient conversion Figure 57 2a, but be not limited thereto to have a plurality of friction coefficient conversion figure.

For example; Also can prepare with cooresponding a plurality of friction coefficient conversion figure of condition of road surface respectively (for example; With the cooresponding drying of the opereating specification of condition of road surface switch mat formation the road with conversion figure, do not mat formation and mat formation the road with 3 kinds in conversion figure etc. with conversion figure and rainy day); In the processing of the S53 of Figure 19, read and the serviceability of condition of road surface switch cooresponding necessary before and after friction coefficient.

In said the 7th embodiment; For vehicle 1 ' with drive wheel 2FL, 2FR and flower wheel 2RL, 2RR; Adopted camber angle shown in figure 24 to give processing (S59), still, camber angle shown in figure 24 is given processing (S59) and is not limited and be applicable to shown in vehicle 1 '; Vehicle structure is the vehicle with drive wheel and flower wheel, also goes for stopping the driving of drive wheel and the vehicle that makes its flower wheelization.For example; As the vehicle 1 of first embodiment; At all wheels 2 is in the vehicle of drive wheel; RL motor 3RL and the RR motor 3RR of revolver 2RL and rear right wheel 2RR when making these wheels 2RL, 2RR flower wheel, also can be suitable for camber angle shown in figure 24 and give processing (S59) after stopping to drive respectively.

In said the 7th embodiment; The braking legpower makes boundary " X " that mechanical brake moves as threshold value; According to the braking legpower is more than the threshold value or less than threshold value; Confirm that (2FL～2RR) still only gives and the corresponding camber angle of necessary friction coefficient for drive wheel 2FL, 2FR, but this threshold value is not limited to boundary that mechanical brake is moved to all wheels 2.The ratio of the braking force that the braking force that also can produce based on regenerative braking produces with respect to the mechanical type braking is confirmed all wheels 2 (2FL～2RR) still only give and the corresponding camber angle of necessary friction coefficient for drive wheel 2FL, 2FR.For example; The ratio of the braking force that the braking force of giving when regenerative braking is given with respect to the mechanical type braking is the threshold value of regulation when above; Promptly; The shared ratio of the braking force that regenerative braking produces is compared with the shared ratio of braking force that the mechanical type braking produces when enough big, drive wheel 2FL, 2FR is given and the corresponding camber angle of necessary friction coefficient.On the other hand; The ratio of the braking force that the braking force of giving when regenerative braking is given with respect to the mechanical type braking is during less than defined threshold; Promptly; When the shared ratio of the braking force that regenerative braking produces is compared not enough greatly with the shared ratio of braking force that the mechanical type braking produces, to all wheels 2 (2FL～2RR) give and the corresponding camber angle of necessary friction coefficient.

Also have; In said the 7th embodiment; Give the processing that moves in the camber angle control and treatment of processing (S59) as the 5th embodiment with camber angle shown in figure 24 and be illustrated, be applicable to the processing that moves in the camber angle control and treatment of the 6th embodiment but also can give processing (S59) with camber angle shown in figure 24.

In said each embodiment; As two performances that obtain from the characteristic of first and second tire protector 21,221,22; Such two performances of saving combustion expense performance that rollability (low-rolling-resistance) obtains are hanged down in for example clear rideability (acceleration force braking force lateral control force) and the utilization that utilizes high adherence properties to obtain; But be not limited thereto, also can adopt other two performance ground of performance to constitute each tire protector 21,221,22.

For example; As other two performances, thus for example have utilize drainage performance that the groove decorative pattern be fit to remove the moisture film on the road surface obtains with such two performances of low-noise performance of utilizing the groove decorative pattern that is fit to reduce the decorative pattern noise to obtain, utilize adherence properties and the drying of utilizing the tire protector that do not have groove to guarantee ground contact area to obtain on the road of not mating formation that the ground-surface piece decorative pattern that embeds the road of not mating formation obtains mat formation such two performances of adherence properties on road, perhaps, on the accumulated snow road or the road of freezing such two performances of performance of performance and the road surface performance performance propulsive effort braking force of mating formation at normal temperature of performance propulsive effort braking force.

Claims (5)

1. vehicle console device, it is to possessing the vehicle of wheel and camber angle control apparatus, and make said camber angle control apparatus action and control the camber angle of said wheel, wherein,

Said wheel has the first round tire tread and second tire protector that on direction of principal axis, is set up in parallel, and the earth-grasping force of said first round tire tread is higher than said second tire protector, and the rolling resistance of said second tire protector is less than said first round tire tread,

Said camber angle control apparatus is regulated the camber angle of said wheel,

Said vehicle console device is characterised in that to have:

Friction coefficient is calculated mechanism, and it calculates the friction coefficient that between said wheel and track, produces;

Camber angle is calculated mechanism, and it calculates the friction coefficient that mechanism calculates based on said friction coefficient, calculates the command value of the camber angle of said wheel;

Braking testing agency, it detects the serviceability that chaufeur is the brake operating parts operated of abrupt deceleration vehicle;

Object selection by wheel mechanism, it selects to make the wheel of said camber angle control apparatus action based on utilizing the said serviceability that testing agency is detected of braking;

First camber angle change mechanism; It is based on utilizing said camber angle to calculate the command value of the camber angle that mechanism calculates; Adjusting utilizes the camber angle of the wheel that said object selection by wheel mechanism selects, thereby changes the ground connection of the first round tire tread and second tire protector of selected wheel.

2. vehicle console device according to claim 1 is characterized in that having:

The mechanical type stop mechanism, it carries out the mechanical type braking to said wheel;

Regenerative brake mechanism, it is regenerated as electric energy through the energy of rotation with the drive wheel in the said wheel and brakes;

The braking ratio obtains mechanism, and it is based on the serviceability that utilizes said braking testing agency to detect, and obtains the ratio that on each drive wheel and flower wheel, utilizes braking force that said mechanical type stop mechanism gives and the braking force that utilizes said regenerative brake mechanism to give,

Wheel is selected based on utilizing said braking ratio to obtain the ratio that mechanism obtains by said object selection by wheel mechanism.

3. vehicle console device according to claim 2 is characterized in that,

Utilizing said braking ratio to obtain in the ratio that mechanism obtains; When the braking force that utilizes said regenerative brake mechanism to give is the threshold value of regulation when above with respect to the ratio of the braking force that utilizes said mechanical type stop mechanism to give; Drive wheel is only selected by said object selection by wheel mechanism

Utilizing said braking ratio to obtain in the ratio that mechanism obtains; When the braking force that utilizes said regenerative brake mechanism to give with respect to the ratio of the braking force that utilizes said mechanical type stop mechanism to give during less than the threshold value of regulation, all wheels are selected by said object selection by wheel mechanism.

4. vehicle console device according to claim 2 is characterized in that having:

Obtain the turn condition that is applied to the centnifugal force on this vehicle based on the turn condition of said vehicle and obtain mechanism,

Be the threshold value of regulation when above when utilizing said turn condition to obtain centnifugal force that mechanism obtains, all wheels are selected by said object selection by wheel mechanism,

When utilizing said turn condition to obtain centnifugal force that mechanism obtains less than the threshold value of regulation, drive wheel is selected only to select by said object selection by wheel mechanism.

5. according to each described vehicle console device in the claim 2～4, it is characterized in that having:

Camber angle testing agency, it detects the size of the camber angle of said flower wheel;

Second camber angle change mechanism; More than the big or small represented rolling resistance of the camber angle of the said flower wheel that utilizes said camber angle testing agency to detect is for specified value; And when utilizing said selection by wheel mechanism only to select drive wheel, said second camber angle change mechanism change camber angle is so that the rolling resistance of said flower wheel is below the specified value.

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