JP2005297772A - Vehicle steering system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a vehicle steering device in which a driver's arm and wrist are not burdened during a steering operation.
The left and right grips 24L and 24R of the steering handle 23 that are operated by the occupant gripping with both hands are the left and right rotation axes AL extending in a V-shape toward the driver with respect to the revolution axis A on the steering shaft 30. The left and right grips 24L and 24R can rotate in the same direction by meshing with bevel gears 29L and 29R provided on the rotation shaft 25 and a fixed bevel gear 29C. As a result, the left and right grips 24L and 24R move on the spherical surface S around the elbow position O of the driver, and the driver steers without moving the elbow position and unnaturally twisting the wrist. The operation can be performed and the operation becomes easy.
[Selection] Figure 5

Description

  The present invention provides a vehicle including left and right operation members that a driver holds and operates with left and right hands, an actuator that steers a wheel, and a control unit that controls the operation of the actuator according to the operation of the operation member. The present invention relates to a steering apparatus.

A part of the circular steering handle attached to the steering shaft is cut out, and a knob that can be rotated around a rotating shaft parallel to the steering shaft is supported on the cut portion, so that the knob can be moved with one hand without changing the steering handle. Japanese Patent Application Laid-Open No. 2004-151867 discloses that the steering wheel is rotated by grasping.
JP-A-11-227614

  By the way, the circular steering handle that has been generally used for vehicles is attached to the rear end of the steering shaft that is inclined so that the front side of the vehicle body is lowered. The distance from the body to each part of the steering handle is not constant, the distance increases at the upper part of the steering handle, and the distance decreases at the lower part of the steering handle. Therefore, when the driver sitting on the vehicle seat grasps and rotates the steering wheel, his / her arm needs to be extended or contracted, which causes an unnatural movement for the driver and increases the burden of steering operation. In addition, in the conventional steering handle, the wrist of the driver is unnaturally twisted when the steering handle is rotated, which also increases the burden on the driver's steering operation.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a vehicle steering apparatus that does not put a burden on the driver's arm or wrist during a steering operation.

  In order to achieve the above object, according to the invention described in claim 1, the left and right operation members operated by the driver grasping with the left and right hands, the actuator for turning the wheel, and the operation member are operated. Accordingly, in the vehicle steering apparatus including the control unit that controls the operation of the actuator, the movement locus of the operation member by the operation of the driver is on a spherical surface centered on the position of the elbow of the driver. A vehicle steering apparatus is proposed.

  According to the second aspect of the present invention, the left and right operation members operated by the driver grasping with the left and right hands, the actuator for turning the wheel, and the operation of the actuator according to the operation of the operation member. In the vehicle steering apparatus including the control means for controlling, a vehicle steering apparatus is proposed in which the operation member moves in a direction approaching the driver when moving upward from the neutral position.

  According to the invention described in claim 3, the left and right operation members that the driver operates with the left and right hands, the actuator that steers the wheel, and the operation of the actuator according to the operation of the operation member. In a vehicle steering apparatus including a control means for controlling, left and right operation members can rotate around left and right rotation shafts while revolving around a revolution shaft, and the left and right rotation shafts are V-shaped toward the driver. A vehicular steering apparatus is proposed which is inclined so as to open to the right.

  The first and second steering actuators 14 and 17 of the embodiment correspond to the actuator of the present invention, and the left and right grips 24L and 24R of the embodiment correspond to the operation member of the present invention. The two steering actuator electronic control units Ua and Ub correspond to the control means of the present invention.

  According to the configuration of claim 1, when the driver grips and operates the left and right operation members with the left and right hands to steer the wheels, the operation member moves on a spherical surface centered on the position of the driver's elbow. The driver can perform the steering operation without moving the position of the elbow, thereby reducing the operation burden.

  According to the configuration of claim 2, when the driver grips and operates the left and right operation members with the left and right hands to steer the wheels, the operation members move in a direction approaching the driver as they move upward from the neutral position. Therefore, the driver can perform the steering operation without moving the position of the elbow, and the operation burden is reduced.

  According to the configuration of claim 3, when the driver grips and operates the left and right operation members with the left and right hands to steer the wheels, the left and right operation members revolve around the revolution axis, and V-shaped toward the driver. Since it rotates around the left and right rotation axes that open like a driver, the driver can perform steering operation without moving the elbow position, which not only reduces the operation burden, but also unnaturally twists the wrist of the driver. Is prevented, and the operation burden is further reduced.

  DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described below based on examples of the present invention shown in the accompanying drawings.

  1 to 6 show an embodiment of the present invention. FIG. 1 is an overall view of a vehicle steering apparatus, FIG. 2 is a front side view of the vehicle, and FIG. 3 is an enlarged view of a main part of FIG. 4 is a perspective view corresponding to FIG. 3, FIG. 5 is a cross-sectional view taken along line 5-5 of FIG. 3, and FIG. 6 is an explanatory diagram of operation when the handle is operated in the left-turning direction.

  As shown in FIG. 1, a steering gear box 11 that steers wheels W of an automobile includes a rack bar 12 that can slide in the left-right direction of the vehicle body, and both ends of the rack bar 12 have left and right tie rods 13 and 13. To the left and right wheels W, W. A pinion 15 rotated by a first steering actuator 14 made of an electric motor meshes with a rack 16 formed on the rack bar 12, and when the first steering actuator 14 is driven, the rack bar 12 moves to the left and right sides of the vehicle body via the pinion 15 and the rack 16. Sliding in the direction, the left and right wheels W, W are steered through the tie rods 13,13.

  A second steering actuator 17 made of an electric motor and an annular drive gear 18 rotated thereby are arranged so as to surround the outer periphery of the rack bar 12. A male screw member 21 meshes with a female screw member 20 supported by a bracket 19 fixed to the rack bar 12, and a driven gear 22 provided at one end of the male screw member 21 meshes with the drive gear 18. Accordingly, when the second steering actuator 17 is driven, the rotation of the drive gear 18 is transmitted to the male screw member 21 via the driven gear 22, and the female screw member 20 that meshes with the rotating male screw member 21 moves in the left-right direction of the vehicle body. The bar 12 slides in the left-right direction of the vehicle body and the left and right wheels W, W are steered.

  As shown in FIGS. 2 to 4, the steering handle 23 includes a left grip 24 </ b> L that the driver holds with the left hand and a right grip 24 </ b> R that the right hand holds, and the left and right grips 24 </ b> L and 24 </ b> R are V-shaped toward the driver. Are fixed to the rear ends of the left and right rotating shafts 25, 25 disposed on the left and right rotating shafts AL, AR inclined to each other through plate-like arms 26, 26. Each rotating shaft 25, 25 is a ball bearing 27. , 27 are rotatably supported by a circular housing 28. Left and right bevel gears 29L and 29R are fixed to opposite ends of the left and right rotating shafts 25 and 25, respectively, and the left and right bevel gears 29L and 29R mesh with a common fixed bevel gear 29C.

  The first steering shaft 30 fixed integrally with the housing 28 is supported by a rear column cover 33 fixed to a rear end of the front column cover 31 with bolts 32... The A support shaft 36 integral with the fixed bevel gear 29C is fixed to the rear end of the stay 35 fixed to the lower surface of the rear column cover 33. Accordingly, the fixed bevel gear 29C is supported by the rear column cover 33 so as not to rotate. The rotation axes AL and AR of the left and right grips 24L and 24R intersect with the revolution axis A on the first steering shaft 30 at an acute angle (35 ° in the embodiment). That is, the left and right rotation axes AL and AR across the revolution axis A intersect each other at an angle of 70 °.

  A second steering shaft 38 coupled to the front end of the first steering shaft 30 with bolts 37 is rotatably supported by the front column cover 31 via a ball bearing 42. A steering angle sensor Sa that detects a steering angle δ input by the driver to the steering handle 23 is provided at the front end portion of the second steering shaft 38, and the driver is attached to the steering handle 23 at an intermediate portion of the second steering shaft 38. A steering torque sensor Sb for detecting the input steering torque T is provided. A steering reaction force generating means 39 is provided at the intermediate portion of the second steering shaft 38. The steering reaction force generating means 39 applies a pseudo steering reaction force to the steering handle 23 by an electric motor or hydraulic pressure, and the drive gear 40 provided on the output shaft thereof is connected to the driven gear 41 provided on the second steering shaft 38. The direction and magnitude of the steering reaction force can be arbitrarily controlled by meshing.

  As shown in FIG. 1, the operation of the first steering actuator 14 is controlled by the first steering actuator electronic control unit Ua, and the operation of the second steering actuator 17 is controlled by the second steering actuator electronic control unit Ub. The operation of the reaction force generating means 39 is controlled by the steering reaction force generating means electronic control unit Uc.

  The first and second steering actuator electronic control units Ua and Ub have a steering angle δ detected by the steering angle sensor Sa, a vehicle speed V detected by the vehicle speed sensor Sc, and a rack position P detected by the rack position sensor Sd. The steering reaction force generating means electronic control unit Uc is inputted with the steering angle δ detected by the steering angle sensor Sa, the steering torque T detected by the steering torque sensor Sb, and the vehicle speed V detected by the vehicle speed sensor Sc. Entered.

  Next, the operation of the embodiment having the above configuration will be described.

  The first steering actuator 14 is used during normal operation, and the second steering actuator 17 is used as a backup when the first steering actuator 14 fails. When the first steering actuator 14 is functioning normally and the driver operates the steering handle 23, the rotation of the first steering shaft 30 is transmitted to the second steering shaft 38 and connected to the second steering shaft 38. The steering angle δ and the steering torque T are detected by the steering angle sensor Sa and the steering torque sensor Sb.

  The steering angle δ detected by the steering angle sensor Sa, the vehicle speed V detected by the vehicle speed sensor Sc, and the rack position P detected by the rack position sensor Sd are input to the first steering actuator electronic control unit Ua. The electronic control unit Ua for the first steering actuator drives the first steering actuator 14 so that, for example, the steering angle γ of the wheels W and W proportional to the steering angle δ of the steering handle 23 is obtained, and the steering gear box 11 Wheels W and W are steered via

  At this time, feedback control is performed so that the rack position P detected by the rack position sensor Sd (that is, the turning angle γ of the wheels W, W) matches the target position. For example, when the vehicle speed V detected by the vehicle speed sensor Sc is high, the target turning angle of the wheels W and W is decreased, and when the vehicle speed V is low, the target turning angle of the wheels W and W is increased. Sometimes, it is possible to improve the straight running stability of the vehicle and facilitate the handling of the vehicle at a low speed.

  In the steer-by-wire type steering device, since the steering reaction force from the wheels W, W does not act on the steering handle 23, the steering reaction force generation means 39 is driven by a command from the steering reaction force generation means electronic control unit Uc. It is necessary to apply a steering reaction force to the steering handle 23. The target steering reaction force at that time is searched for a map using the steering angle δ detected by the steering angle sensor Sa and the vehicle speed V detected by the vehicle speed sensor Sc as parameters. This map is set so that the steering reaction force increases as the steering angle δ increases, and the steering reaction force increases as the vehicle speed V increases. The drive of the steering reaction force generating means 39 is feedback-controlled so that the steering torque T detected by the steering torque sensor Sb matches the target steering reaction force. In this way, by applying a pseudo steering reaction force to the steering handle 23 by the steering reaction force generating means 39, the driver's uncomfortable feeling can be eliminated.

  When the first steering actuator 14 fails, the second steering actuator electronic control unit Ub controls the second steering actuator 17 in the same manner, so that the wheels W and W can be continuously steered.

  Now, from the neutral state shown in FIG. 6 (A), as shown in FIG. 6 (B), when the steering handle 23 is operated in the left turning direction around the revolution axis A, the left grip 24L is counterclockwise around the rotation axis AL. The right grip 24R also rotates counterclockwise around the rotation axis AR.

  When the steering handle 23 is revolved in the left turning direction around the revolution axis A in this way, the left and right grips 24L and 24R rotate in the same direction around the rotation axes AL and AR. The wrist is naturally twisted so that it is not at an unreasonable angle, making it easier for the driver to steer. As shown in FIG. 6C, the limit rotation angle around the revolution axis A of the steering handle 23 is suppressed to 90 °. Further, since the interlocking mechanism of the left and right grips 24L and 24R is configured by the left and right bevel gears 29L and 29R and the fixed bevel gear 29C, the left and right grips 24L and 24R can be rotated in the same direction in conjunction with each other. .

  In addition, since the left and right rotation axes AL and AR are inclined so as to spread in a V shape toward the driver, the left and right grips 24L and 24R move toward the driver when moving upward from the neutral position. As shown in FIG. 5, the left and right grips 24L, 24R move on the spherical surfaces S, S centered at the elbow positions O, O of the driver. As a result, the driver can operate the steering handle 23 by moving only the part and the hand from the elbow of the arm while fixing the position of the elbow, and the steering operation is further facilitated.

  Although the case where the steering handle 23 is operated in the left turning direction has been described so far, the operation when the steering handle 23 is operated in the right turning direction is the same.

  The embodiments of the present invention have been described above, but various design changes can be made without departing from the scope of the present invention.

  For example, in the embodiment, the rotation axes AL and AR of the left and right grips 24L and 24R are mutually 70 °, but the angle is not limited to 70 °.

Overall view of vehicle steering system Front side view of the vehicle 2 is an enlarged view of the main part of FIG. Perspective view corresponding to FIG. Sectional view along line 5-5 in FIG. Action explanatory diagram when the handle is operated in the left turning direction

Explanation of symbols

14 First steering actuator (actuator)
17 Second steering actuator (actuator)
24L Left grip (operation member)
24R Right grip (operating member)
A Revolving axis AL Rotating axis AR Rotating axis O Position of driver's elbow S Spherical surface Ua Electronic control unit for first steering actuator (control means)
Ub Second steering actuator electronic control unit (control means)
W wheel

Claims (3)

Left and right operation members (24L, 24R) that the driver operates by grasping with left and right hands,
Actuators (14, 17) for turning the wheels (W);
Control means (Ua, Ub) for controlling the operation of the actuator (14, 17) in accordance with the operation of the operation member (24L, 24R);
In a vehicle steering apparatus comprising:
The vehicle steering apparatus, wherein a movement locus of the operation member (24L, 24R) by a driver's operation is on a spherical surface (S) centered on a position (O) of the driver's elbow. Left and right operation members (24L, 24R) that the driver operates by grasping with left and right hands,
Actuators (14, 17) for turning the wheels (W);
Control means (Ua, Ub) for controlling the operation of the actuator (14, 17) in accordance with the operation of the operation member (24L, 24R);
In a vehicle steering apparatus comprising:
The vehicle steering apparatus, wherein the operating members (24L, 24R) move in a direction approaching the driver when moving upward from the neutral position. Left and right operation members (24L, 24R) that the driver operates by grasping with left and right hands,
Actuators (14, 17) for turning the wheels (W);
Control means (Ua, Ub) for controlling the operation of the actuator (14, 17) in accordance with the operation of the operation member (24L, 24R);
In a vehicle steering apparatus comprising:
The left and right operation members (24L, 24R) can rotate about the left and right rotation axes (AL, AR) while revolving around the rotation axis (A), and the left and right rotation axes (AL, AR) face the driver. And a vehicle steering device that is inclined so as to open in a V shape.

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