JP2004256071A - Steering device for vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a steering device for a vehicle capable of eliminating a waiting time under a modification of mode as compared with a setting of a center of turning through a mode change, reducing a tire wearing and further capable of freely setting a turning orbit as required by a driver while keeping some advantages of prohibiting changing in a steering angle or a limitation against changing of a steering angle. <P>SOLUTION: Four wheels 4FR, 4FL, 4RR and 4RL constituting running wheels of a vehicle are constructed such that they have steering actuators 5FR, 5FL, 5RR and 5RL capable of independently controlling each of steering angles. This steering device for a vehicle has a steering controller 6 for use in controlling a steering angle in such a way that the rotating axes of each of the wheels 4FR, 4FL, 4RR and 4RL may be directed toward the turning center P. There is provided an inputting means (the steering wheel 1 and the slider 15) in which a positional setting of the turning center P and a continuous changing in position of the turning center P can be instructed through an operation performed by a driver. <P>COPYRIGHT: (C)2004,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention belongs to the technical field of a vehicle steering system, which is a vehicle steering system capable of independently controlling the steering angles of a plurality of wheels constituting the running wheels of the vehicle.
[0002]
[Prior art]
Conventionally, a steering device that normally sets the turning center on the rear axle axis and sets the turning center on the axis in the vehicle width direction from the center of the front wheel and the rear wheel in the parking mode to eliminate the inner wheel difference and the outer wheel difference. It has been proposed (for example, see Patent Document 1).
[0003]
[Patent Document 1]
JP-A-2000-128008 (FIGS. 4 and 8).
[0004]
[Problems to be solved by the invention]
However, in the conventional vehicle steering system, there are basically proposed two types, that is, the turning center is on the rear axis, or the center of the front wheel and the rear wheel is set on the axis in the vehicle width direction. However, depending on the situation, setting the turning center at the front edge of the vehicle or setting it at the rear edge of the vehicle may be easier to handle, and the feature that all wheels can be steered independently has not been fully utilized. However, there is a possibility that an operation method that is easy for the driver to handle cannot be provided.
[0005]
In particular,
(1) Since the two types of turning are switched by mode selection, depending on the condition of the turning angle of each wheel, when the mode is switched, it is necessary for the driver to adjust the wheels to the turning angle in the switched mode. Causes a waiting time.
(2) Since the tire is forced to be in a stationary state, wear of the tire is promoted.
(3) When switching to a mode such as a straight traveling state of all the wheels, the mode can be switched only when there is no difference in the steering angle.
There is a problem.
[0006]
The present invention has been made in view of the above-mentioned problem, and eliminates waiting time in mode change, reduces tire wear, inhibits change of steering angle, and inhibits steering angle, as compared with setting of turning center by mode switching. It is an object of the present invention to provide a vehicle steering system that can freely set a turning trajectory as required by a driver while having an advantage of eliminating a change restriction.
[0007]
[Means for Solving the Problems]
In order to achieve the above object, in the present invention, a plurality of wheels constituting a traveling wheel of a vehicle have a steering actuator capable of independently controlling each steering angle,
In a vehicle steering system including a steering angle control unit that controls a steering angle such that a rotation axis of each wheel faces a turning center,
There is provided an input means capable of instructing the position setting of the turning center and the continuous position change of the turning center by a driver's operation.
[0008]
Here, the "input means" may be a means for the driver to input the position defining the turning center by one lever operation or the like, or the driver may input the position defining the turning center in the vehicle lateral direction and the vehicle front and rear. It may be constituted by "vehicle lateral position input means" and "vehicle longitudinal position input means" for inputting the direction position by independent operations.
[0009]
The "vehicle lateral position input means" is, for example, a steering wheel (= rotation direction operation of the steering wheel). The "vehicle longitudinal position input means" is, for example, a slider provided near the steering wheel or a longitudinal operation of the steering wheel.
[0010]
In the “slider”, for example, a click position where the operating force fluctuates is set at an operation position where the position of the turning center of the vehicle in the front-rear direction corresponds to the vehicle front end position, the front-rear axis center position, and the vehicle rear end position. May be.
[0011]
Further, a "turn center display" for displaying the position setting of the turn center and the continuous change of the turn center at a position where the driver can visually recognize the position may be provided.
[0012]
【The invention's effect】
Therefore, in the vehicle steering system of the present invention, since the input means capable of instructing the position setting of the turning center and the continuous position change of the turning center by the driver's operation is provided, the mode switching is performed. Compared to the setting of the turning center, the turning trajectory of the driver can be reduced while eliminating the waiting time in mode change, reducing tire wear, and eliminating the turning angle change prohibition and turning angle change restriction. Can be set freely as required.
[0013]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, an embodiment for realizing a vehicle steering device of the present invention will be described based on an example illustrated in the drawings.
[0014]
(First embodiment)
First, the configuration will be described.
FIG. 1 is an overall system diagram showing a vehicle steering system according to a first embodiment.
In FIG. 1, 1 is a steering wheel (vehicle lateral position input means), 2 is a steering shaft, 3 is a reaction force generator, 4FR is a right front wheel, 4FL is a left front wheel, 4RR is a right rear wheel, and 4RL is a left rear wheel. Reference numeral 5FR denotes a front right wheel steering actuator, 5FL denotes a front left wheel steering actuator, 5RR denotes a rear right wheel steering actuator, and 5RL denotes a rear left wheel steering actuator.
[0015]
A steering reaction force is applied to the steering wheel 1 by a reaction force generator 3 during steering by a driver.
[0016]
The steering angle of the front right wheel 4FR is freely controlled by a front right wheel steering actuator 5FR. The steering angle of the front left wheel 4FL is freely controlled by a front left wheel steering actuator 5FL. The steering angle of the right rear wheel 4RR is freely controlled by a right rear wheel steering actuator 5RR. The turning angle of the left rear wheel 4RL is freely controlled by a left rear wheel turning actuator 5RL. That is, the four wheels 4FR, 4FL, 4RR, and 4RL constituting the traveling wheels of the vehicle are configured to be able to independently control the respective turning angles.
[0017]
1 and 2, 6 is a steering controller (steering angle control means), 7 is a steering angle sensor, 8 is a right front wheel turning angle sensor, 9 is a left front wheel turning angle sensor, 10 is a right rear wheel turning angle sensor, 11 is a left rear wheel turning angle sensor, 12 is a vehicle lateral position setting device, 13 is a vehicle longitudinal direction position setting device, 14 is a turning center display, 15 is a slider (vehicle longitudinal direction position input means), and 16 is an instrument. It is a panel.
[0018]
The steering controller 6 controls the steering reaction force generated by the reaction force generator 3 at the time of steering, and controls the turning actuators 5FR, 5FL, 5RR, and 5RL according to the set turning center P. And a function of outputting a display command of the turning center P to the turning center display 14.
[0019]
The steering angle sensor 7 detects a steering angle which is an operation amount of the driver with respect to the steering wheel 1, and inputs a steering angle signal to the steering controller 6.
[0020]
Each of the turning angle sensors 8, 9, 10, 11 detects a left front wheel turning angle, a right front wheel turning angle, a right rear wheel turning angle, and a left rear wheel turning angle, respectively, and outputs each turning angle signal to a steering controller. Enter 6
[0021]
The vehicle lateral position setting unit 12 is means for setting the vehicle lateral position x of the turning center P in conjunction with the rotation operation of the steering wheel 1 by the driver. It changes continuously by rotating the steering wheel 1.
[0022]
The vehicle longitudinal position setting device 13 is a means for setting the vehicle longitudinal direction position y of the turning center P in conjunction with the slider operation by the driver. The vehicle longitudinal position y of the turning center P is shown in FIG. As described above, the slider 15 is continuously changed by operating the slider 15 provided on the left side of the steering wheel 1 substantially in the longitudinal direction of the vehicle. The slider 15 that sets the position y of the turning center P in the vehicle front-rear direction corresponds to, for example, the front end position of the vehicle, the center position between the front shaft and the rear shaft (the inner wheel difference becomes 0), the rear end position of the vehicle, and the like. It is easy to handle if a click position where the operating force fluctuates is provided at a location.
[0023]
The turning center indicator 14 is installed in the instrument panel 16 as shown in FIG. 2, and is provided with a turning center P that is set by a vehicle lateral position x and a vehicle front-rear position y that continuously change during steering. Is displayed so that the driver can visually recognize it. The display by the turning center indicator 14 is, for example, as shown in FIG. 3, in accordance with the cursor 14a indicating the vehicle lateral position x of the turning center P with the rotation of the steering wheel 1, and the front and rear position of the slider 13a. A cursor 14b indicating the position y of the turning center P in the front-rear direction of the vehicle and a point 14c indicating the turning center point P, which is the intersection thereof, are displayed.
[0024]
Next, the operation will be described.
[0025]
[Steering and display control processing]
FIG. 4 is a flowchart showing a flow of a steering and display control process executed by the steering controller 6, and each step will be described below.
[0026]
In step S1, the steering angle information from the steering angle sensor 7, the steering angle information from each of the steering angle sensors 8, 9, 10, and 11, the vehicle lateral position information from the vehicle lateral position setting unit 12, the vehicle front and rear, The vehicle front / rear position information from the direction position setting device 13 is read, and the process proceeds to the next step S2.
[0027]
In step S2, the turning center P is set based on the intersection between the input vehicle lateral position x and the vehicle front-rear position y, and the process proceeds to the next step S3.
[0028]
In step S3, the target turning angle of the right front wheel 4FR is calculated based on the turning center P set in step S2, and the process proceeds to the next step S4. The target turning angle is an angle orthogonal to a line connecting the turning center P and the wheel center.
[0029]
In step S4, the target steering angle of the left front wheel 4FL is calculated based on the turning center P set in step S2, and the process proceeds to the next step S5.
[0030]
In step S5, the target turning angle of the right rear wheel 4RR is calculated based on the turning center P set in step S2, and the process proceeds to the next step S6.
[0031]
In step S6, the target turning angle of the left rear wheel 4RL is calculated based on the turning center P set in step S2, and the process proceeds to the next step S7.
[0032]
In step S7, a command for obtaining the target turning angle calculated in steps S3 to S6 is output to each of the turning actuators 5FR, 5FL, 5RR, and 5RL, and the turning center indicator 14 is output to the turning center indicator 14 in step S2. The display command of the set turning center P is output. The turning angle control is performed by feedback control so that the actual turning angle obtained by each turning angle sensor 8, 9, 10, 11 matches the target turning angle. Then, the process returns from step S7 to step S1, and repeats the above-described processing for each control activation cycle.
[0033]
[Steering control action]
For example, in a state where the vehicle is already turning, when changing the position in the vehicle longitudinal direction of the turning center, as in the prior art, the vehicle normal direction position is on the rear axis, the "normal turning mode", the front axis and the rear axis. If you try to perform the mode switching in the "small turning mode" at the center of the vehicle, it is necessary to suddenly change the turning angle at the time of mode switching, so it is necessary to prohibit the mode switching itself in the turning state so as not to give the driver a strange feeling It is necessary to change the mode by gradually changing the steering angle in order to avoid sudden changes.
[0034]
On the other hand, in the vehicle steering system of the first embodiment, the input means (the steering wheel) which can instruct the position setting of the turning center P and the continuous position change of the turning center P by the driver's operation. 1 and the slider 15), there is an advantage that, compared to the setting of the turning center by mode switching, waiting time in mode change is eliminated, tire wear is reduced, and turning angle change prohibition and turning angle change restriction are eliminated. The turning trajectory can be freely set as required by the driver while having the property. Hereinafter, the turning control operation of the first embodiment will be described in detail.
[0035]
FIG. 5 is a plan view showing the turning center P as viewed from above the vehicle. In the figure, P is a turning center, and the turning center P can be set by defining a vehicle lateral position x and a vehicle longitudinal direction position y. The steering angles of the four wheels 4FR, 4FL, 4RR, and 4RL are controlled such that their rotation axes are directed to P.
[0036]
By allowing the driver to input the vehicle lateral position x and the vehicle front-rear position y of the center of rotation, the degree of freedom of following the turning trajectory desired by the driver is increased.
[0037]
FIG. 6 shows the relationship between an example of the input means operated by the driver and the turning center position. The vehicle lateral position x of the turning center P is adjusted by rotating the steering wheel 1. When the steering wheel 1 is turned rightward from the straight traveling state, the x coordinate of the turning center P changes from infinity in the right direction of the vehicle to 0 (vehicle center) in accordance with the rotation angle of the steering wheel 1 and becomes the vehicle center. However, it matches the locked position of the steering wheel 1. Conversely, when the steering wheel 1 is turned to the left from the straight running state, the x coordinate of the turning center P can be changed from infinity in the left direction of the vehicle to the center of the vehicle.
[0038]
Regarding the position y of the turning center P in the vehicle front-rear direction, an example of the slider 15 operated substantially in the vehicle front-rear direction is shown here. By moving the slider 15 back and forth, the y coordinate of the turning center P can be changed back and forth.
[0039]
The steering controller 6 controls the turning angles of the wheels 4FR, 4FL, 4RR, 4RL based on the position of the turning center P input from the driver in accordance with the flowchart shown in FIG. Hereinafter, as a specific example in which the actual turning angle control is utilized, the effects of “when performing parallel parking” and “when turning a right-angle turn to the left” will be described.
[0040]
[When parking in parallel]
FIG. 7 shows an example of a turning method when performing parallel parking. In FIG. 7, a case where parking is performed between a parked vehicle A and a parked vehicle B is considered. First, the steering wheel 1 is turned counterclockwise while the vehicle front-rear position y of the turning center P is set on the rear axle used during normal driving, and the front of the own vehicle is guided to the vicinity of the rear part of the parked vehicle A. (Operation of (1)).
[0041]
Next, the vehicle front-rear position y of the turning center P is set near the vehicle front end by operating the slider 15 in the forward direction, and the vehicle lateral position x is turned rightward by turning the steering wheel 1 to the right. By setting the vicinity of the vehicle, the turning center P is set in the vicinity of the front right end of the vehicle, and the vehicle is rotated clockwise about that point so that the rear of the vehicle is set at the front of the parked vehicle B (operation (2)). .
[0042]
By doing so, it is possible to carry out parallel parking without performing a backward movement, and to perform parking even if the distance between the parked vehicle A and the parked vehicle B is smaller than that of the current vehicle with a backward movement. it can. This movement is a movement that cannot be realized by a movement in which there is no inner wheel difference and outer wheel difference in which the vehicle front-rear position y of the turning center P is set at the center between the front shaft and the rear shaft.
[0043]
FIG. 8 is a diagram showing the turning state of the wheels 4FR, 4FL, 4RR, 4RL during the operation (2). The rotational axis of each of the wheels 4FR, 4FL, 4RR, 4RL is directed to the turning center P set near the right end of the front of the vehicle. If the wheels are driving wheels, the driving force of each wheel is as shown in FIG. In the direction of the arrow.
[0044]
FIG. 9 shows the movement when starting from the parallel parking state. First, in a state where the turning center P is set near the right end of the rear of the vehicle, the vehicle can be disengaged by moving the front portion of the vehicle sideways from the parked vehicle A (operation (3)).
[0045]
[When turning right at a right turn]
FIG. 10 shows a case where the vehicle turns left at a right angle. FIG. 10 shows an extreme operation in which the vehicle is first advanced to a position where the vehicle is going straight ahead, and then turns 90 degrees with the vicinity of the left front end of the vehicle as a turning center. If the road width is narrow, the position y of the turning center P in the front-rear direction of the vehicle can be allocated closer to the front of the vehicle, so that the portion protruding during turning can be assigned to a wider road side. You have to do less, and it's easier to get into narrow roads.
[0046]
This situation will be described with reference to FIG. FIGS. 11A to 11C show the movement trajectories of the vehicle (the four wheels 4FR, 4FL, 4RR, and 4RL) at different positions of the turning center P in the vehicle longitudinal direction y. Is shown. FIG. 11A shows a vehicle in which the turning center P has a vehicle longitudinal direction position y on the front shaft, FIG. 11B shows a vehicle in which the turning center P has a vehicle longitudinal direction position y in the center between the front shaft and the rear shaft, FIG. 11C shows a state in which the position y of the turning center P in the vehicle longitudinal direction is on the rear axis. The hooked line inside the turn indicates the position of a right angle at which the vehicle can make a turn at a certain interval to the left of the vehicle when traveling straight, and the hooked line inside the turn indicates the required road width outside the turn.
[0047]
As the position y of the turning center P in the front-rear direction of the vehicle moves forward, the rear wheels on the outer side of the turn are more protruding, and the turning start position is also closer to the corner, but the road width at the turning destination can be smaller. Conversely, as the position y of the turning center P in the front-rear direction of the vehicle moves toward the rear of the vehicle, the overhang of the rear wheel outside of the turning in the first half of the turning becomes smaller, and the turning start position also approaches the corner, but it is necessary to increase the road width at the turning destination. Become.
[0048]
FIG. 12 shows a case where the vehicle turns left at a corner from a narrow road to a wide road. FIG. 12 also shows an extreme operation in which the vehicle is first advanced to a position where the vehicle is going straight ahead, and then turns 90 degrees with the vicinity of the left rear end of the vehicle as the turning center P, but from a narrow road to a wide road. In the case of turning, it is better to move the vehicle center position y of the turning center P to the vehicle rear side, so that the overhang portion can be assigned to a wide road side, and if the inner wheel difference and the right rear overhang are not observed, The extent to which it is not required is reduced, and the burden on the driver is reduced. This is the state shown in FIG.
[0049]
In this manner, the driver can adjust the position y of the turning center P in the vehicle front-rear direction, so that the vehicle locus can be taken according to the surrounding situation. A state in which the center y of the turning center P in the vehicle longitudinal direction is at the center between the front axle and the rear axle and there is no inner wheel difference (FIG. 11B) is valid at the time of a small turn. It is necessary to be careful about overhang. In such a case, first, the position y of the turning center P in the vehicle front-rear direction is set on the rear axis to prevent the turning center P from protruding outside the turning direction, and the position y of the turning center P in the vehicle front-rear direction is gradually set forward. , A small turn can be realized (FIG. 13).
[0050]
Next, effects will be described.
In the vehicle steering system according to the first embodiment, the following effects can be obtained.
[0051]
(1) The four wheels 4FR, 4FL, 4RR, 4RL constituting the running wheels of the vehicle have steering actuators 5FR, 5FL, 5RR, 5RL that can independently control each steering angle. In a vehicle steering system including a steering controller 6 that controls a turning angle so that the rotation axes of 4FR, 4FL, 4RR, and 4RL are directed to the turning center P, the position setting of the turning center P and the setting of the turning center P are performed. Since input means (the steering wheel 1 and the slider 15) capable of instructing a continuous position change by a driver's operation are provided, the waiting time in the mode change is eliminated as compared with the setting of the turning center by the mode switching. The trajectory can be freely set as required by the driver, with the advantage of reducing tire wear and eliminating the prohibition of steering angle change and the restriction of steering angle change. It can be.
[0052]
(2) The turning center P is defined by a two-dimensional coordinate system based on the vehicle lateral position x and the vehicle longitudinal direction y, and the input means is controlled by the driver by independent operation of the vehicle lateral position and the vehicle longitudinal direction position. When the vehicle lateral position input means (steering wheel 1) and the vehicle longitudinal direction position input means (slider 15) are constituted, only the vehicle longitudinal position y is continuously changed while the vehicle lateral position x is fixed. Alternatively, when only the vehicle lateral position x is continuously changed while the vehicle longitudinal direction y is fixed, the instruction can be easily made by the driver's operation.
[0053]
(3) Since the vehicle lateral position input means is the steering wheel 1 and the vehicle longitudinal position input means is the slider 15 provided near the steering wheel 1, the driver holds the steering wheel 1 while holding it. , The vehicle lateral position x can be continuously changed.
[0054]
(4) The slider 15 has a click position where the operating force fluctuates at an operation position where the position y of the turning center P in the vehicle front-rear direction corresponds to the vehicle front end position, the center position in the front-rear axis, and the vehicle rear end position. Therefore, if the driver becomes proficient, the vehicle y-direction position y can be continuously changed by the bridging operation.
[0055]
(5) Since the turning center indicator 14 is provided for displaying the position setting of the turning center P and the continuous change of the turning center P at a position where the driver can visually recognize the turning center P, the driver can turn the turning center P during turning. The driver can easily change the position of the turning center P while checking the turning center display 14 even when the driver wants to change the position of the turning center P while always visually confirming the position of the turning center P. It can be performed.
[0056]
(Second embodiment)
The second embodiment is an example in which the steering wheel 1 is also used as input means for a vehicle lateral position x of a turning center P and a vehicle longitudinal direction position y.
[0057]
That is, as shown in FIG. 14, by rotating the steering wheel 1 (in the direction of A in the figure), the steering wheel 1 is used as an input means of the vehicle lateral position x of the turning center P, and the steering wheel 1 is moved in the vehicle front-rear direction. By pushing and pulling (in the direction of B in the figure), it is used as an input means of the position y of the turning center P in the vehicle longitudinal direction. Here, the position of the turning center P moves forward by pushing the steering wheel 1 forward, and the position of the turning center P moves backward by pulling the steering wheel 1 backward.
[0058]
Next, the operation will be described.
[0059]
When the operation of the slider 15 is neglected in the first embodiment, since the turning locus differs depending on the operating position of the slider 15 even though the operating angle of the steering wheel 1 is the same, the vehicle front and rear of the turning center P can be seen. It is desirable that the driver can also continuously change the direction position y, similarly to the vehicle lateral direction position x in which the steering wheel 1 is rotated and continuously changed.
[0060]
On the other hand, in the device of the second embodiment, the turning position P of the turning center P moves in the vehicle lateral direction by rotating the steering wheel 1, and the turning center P is moved by pushing and pulling the steering wheel 1 in the vehicle front-rear direction. Of the vehicle in the front-rear direction moves. By doing so, the driver can adjust the vehicle lateral position x and the vehicle longitudinal position y of the turning center P while holding the steering wheel 1 with both hands.
[0061]
Next, effects will be described.
In the vehicle steering system according to the second embodiment, the following effects can be obtained in addition to the effects (1), (2), and (5) of the first embodiment.
[0062]
(6) The driver holds the steering wheel 1 with both hands because the vehicle lateral position input means is the rotation direction operation of the steering wheel 1 and the vehicle front / rear position input means is the front / rear operation of the steering wheel 1. Thus, adjustment of the vehicle lateral position x of the turning center P and the vehicle longitudinal direction position y can be performed.
[0063]
As described above, the vehicle steering system according to the present invention has been described based on the first embodiment and the second embodiment. However, the specific configuration is not limited to these embodiments, and the invention is not limited thereto. Changes and additions to the design are permitted without departing from the spirit of the claimed invention.
[0064]
For example, as the input means, a lever operating device or the like in which the driver inputs the position defining the center of turning by one lever operation may be applied.
[Brief description of the drawings]
FIG. 1 is an overall system diagram showing a vehicle steering system according to a first embodiment.
FIG. 2 is a perspective view showing an example of mounting the vehicle steering system of the first embodiment on a vehicle.
FIG. 3 is a view showing a turning center indicator in the vehicle steering system according to the first embodiment;
FIG. 4 is a flowchart illustrating a flow of a steering and display control process executed by a steering controller of the first embodiment device.
FIG. 5 is a diagram showing a turning center position and a state of turning of wheels as viewed from above the vehicle.
FIG. 6 is a diagram illustrating a relationship between an operation input and a turning center position.
FIG. 7 is a diagram showing an operation example in the case of parallel parking.
FIG. 8 is a diagram showing a turning center position, a turning angle of each wheel, and a driving direction.
FIG. 9 is a diagram showing an operation example when leaving from parallel parking.
FIG. 10 is a diagram showing an operation example when turning left.
FIG. 11 is a diagram illustrating an example of a turning locus of a vehicle when turning left.
FIG. 12 is a diagram showing an operation example when turning left.
FIG. 13 is a diagram illustrating an example of a turning locus of a vehicle when turning left.
FIG. 14 is a perspective view showing an example of mounting the vehicle steering system of the second embodiment on a vehicle.
[Explanation of symbols]
1 Steering wheel (vehicle lateral position input means)
2 Steering shaft 3 Reaction force generator 4FR Right front wheel 4FL Left front wheel 4RR Right rear wheel 4RL Left rear wheel 5FR Right front wheel steering actuator 5FL Left front wheel steering actuator 5RR Right rear wheel steering actuator 5RL Left rear wheel steering actuator 6 Steering controller (steering Angle control means)
7 Steering angle sensor 8 Right front wheel turning angle sensor 9 Left front wheel turning angle sensor 10 Right rear wheel turning angle sensor 11 Left rear wheel turning angle sensor 12 Vehicle lateral position setting device 13 Vehicle front and rear position setting device 14 Turning center display device 15 Slider (vehicle longitudinal position input means)

Claims (6)

The plurality of wheels constituting the traveling wheels of the vehicle are configured to have a steering actuator that can independently control each steering angle,
In a vehicle steering system including a steering angle control unit that controls a steering angle such that a rotation axis of each wheel faces a turning center,
A steering apparatus for a vehicle, comprising input means capable of instructing the position setting of the turning center and the continuous change of the turning center by a driver's operation. The vehicle steering system according to claim 1,
The turning center is defined by a two-dimensional coordinate system based on a vehicle lateral position and a vehicle longitudinal direction position,
The vehicle steering apparatus according to claim 1, wherein the input means comprises a vehicle lateral position input means and a vehicle longitudinal position input means for inputting a vehicle lateral position and a vehicle longitudinal direction position by independent operations. . The vehicle steering system according to claim 2,
The vehicle lateral direction input means is a steering wheel, and the vehicle longitudinal direction input means is a slider provided near a steering wheel. The vehicle steering system according to claim 3,
The slider is characterized in that a click position at which an operating force fluctuates is set at an operation position corresponding to a vehicle front-end position, a front-rear axis center position, and a vehicle rear-end position at a vehicle front-rear position of a turning center. Vehicle steering system. In the vehicle steering system according to any one of claims 1 to 4,
A steering device for a vehicle, further comprising a turning center indicator that displays the position setting of the turning center and a continuous change of the turning center at a position where the driver can visually recognize the turning center. The vehicle steering system according to claim 2,
The vehicle lateral direction input means is a steering wheel rotational direction operation, and the vehicle longitudinal direction input means is a steering wheel longitudinal direction operation.

Images