JP2007514600A - 操舵可能な後輪の操舵角度の制御方法及びシステム並びに対応する車両 - Google Patents
操舵可能な後輪の操舵角度の制御方法及びシステム並びに対応する車両 Download PDFInfo
- Publication number
- JP2007514600A JP2007514600A JP2006544521A JP2006544521A JP2007514600A JP 2007514600 A JP2007514600 A JP 2007514600A JP 2006544521 A JP2006544521 A JP 2006544521A JP 2006544521 A JP2006544521 A JP 2006544521A JP 2007514600 A JP2007514600 A JP 2007514600A
- Authority
- JP
- Japan
- Prior art keywords
- steering angle
- vehicle
- rear wheel
- set point
- steerable
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
- B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
- B62D7/15—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels
- B62D7/159—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels characterised by computing methods or stabilisation processes or systems, e.g. responding to yaw rate, lateral wind, load, road condition
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
- B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
- B62D7/15—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
- B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Theoretical Computer Science (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
- Hydraulic Control Valves For Brake Systems (AREA)
- Regulating Braking Force (AREA)
Abstract
Description
−図1は、本発明の1実施の形態による制御システムが装備された車両の略図であり;
−図2は、制御システムの論理図である。
Tdyn11=0.8
Tdyn12=0
Tdyn21=0.8
Tdyn22=0
Tdyn31=0.8
Tdyn32=0
を想定することができる。
Claims (16)
- 少なくとも3つの操舵可能な車輪を有する車両のための、操舵可能な後輪の操舵角度の制御方法において、前輪の操舵角度と、上記車両の移動データと、上記後輪の操舵角度の前の設定点の関数として、上記後輪の操舵角度の現在の設定点を設定することを特徴とする、操舵可能な後輪の操舵角度の制御方法。
- 上記車両の上記移動データは、上記後輪の操舵角度の上記現在の設定点が、上記車両の速度の関数として設定されるように、上記車両の速度であることを特徴とする、請求項1に記載の操舵可能な後輪の操舵角度の制御方法。
- 上記後輪の操舵角度の上記現在の設定点を、1に等しいときに上記車両の運動に関して中立である調整パラメータによって設定することを特徴とする、請求項1または2に記載の操舵可能な後輪の操舵角度の制御方法。
- 上記車両の上記移動データは、ヨーレートを含むことを特徴とする、請求項1から3のいずれか1つに記載の操舵可能な後輪の操舵角度の制御方法。
- 上記車両の上記移動データは、上記車両の重心におけるドリフト角を含むことを特徴とする、請求項1〜4のいずれか1つに記載の操舵可能な後輪の操舵角度の制御方法。
- 上記車両の状態データを、入力データを基礎として推定することを特徴とする、請求項1〜5のいずれか1つに記載の操舵可能な後輪の操舵角度の制御方法。
- 上記後輪の上記操舵角度の現在の設定点は、動的設定点と静的設定点との間の差に等しいことを特徴とする、請求項1〜8のいずれか1つに記載の操舵可能な後輪の操舵角度の制御方法。
- 上記動的設定点を、推定状態データに適用されるコレクターを基礎として設定することを特徴とする、請求項9に記載の操舵可能な後輪の操舵角度の制御方法。
- 上記静的設定点を、推定状態データに適用されるコレクターと、調整パラメータを基礎として設定することを特徴とする、請求項9または10に記載の操舵可能な後輪の操舵角度の制御方法。
- 上記コレクターは、速度に応じて補間されることを特徴とする、請求項11に記載の操舵可能な後輪の操舵角度の制御方法。
- 少なくとも3つの操舵可能な車輪を有する車両(1)のための、操舵可能な後輪(5)の操舵角度の制御システム(10)において、前輪(3)の操舵角度α1と、上記車両の移動データと、上記後輪(5)の操舵角度の前の設定点の関数として、上記後輪の操舵角度の現在の設定点を設定する手段を含むことを特徴とする、操舵可能な後輪の操舵角度の制御システム。
- 入力データを基礎として上記車両の状態データを推定するためのモジュール(23)と、動的設定点を設定するためのモジュール(24)と、静的設定点を設定するためのモジュール(25)と、上記動的設定点と上記静的設定点を結合させるためのモジュールとを含むことを特徴とする、請求項13に記載の操舵可能な後輪の操舵角度の制御システム。
- 上記動的設定点と上記静的設定点を結合させるための上記モジュールは、減算器(26)であることを特徴とする、請求項14に記載の操舵可能な後輪の操舵角度の制御システム。
- シャーシ(2)と、上記シャーシ(2)に弾性的に連結された少なくとも3つの操舵可能な車輪(3〜5)を有する車両において、前輪(3)の操舵角度α1と、上記車両の移動データと、上記後輪(5)の操舵角度の前の設定点の関数として、上記後輪の操舵角度の現在の設定点を設定するための手段を含む、操舵可能な後輪(5)の操舵角度の制御システム(10)を有することを特徴とする車両。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR0314929 | 2003-12-18 | ||
FR0314929A FR2864001B1 (fr) | 2003-12-18 | 2003-12-18 | Procede et systeme de commande du braquage de roue arriere directrice et vehicule correspondant |
PCT/FR2004/050705 WO2005061305A1 (fr) | 2003-12-18 | 2004-12-16 | Procede et systeme de commande du braquage de roue arriere directrice et vehicule correspondant |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2007514600A true JP2007514600A (ja) | 2007-06-07 |
JP4863880B2 JP4863880B2 (ja) | 2012-01-25 |
Family
ID=34508700
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2006544521A Expired - Fee Related JP4863880B2 (ja) | 2003-12-18 | 2004-12-16 | 操舵可能な後輪の操舵角度の制御方法及びシステム並びに対応する車両 |
Country Status (8)
Country | Link |
---|---|
EP (1) | EP1544080B1 (ja) |
JP (1) | JP4863880B2 (ja) |
KR (1) | KR101139636B1 (ja) |
AT (1) | ATE403590T1 (ja) |
DE (1) | DE602004015554D1 (ja) |
ES (1) | ES2308129T3 (ja) |
FR (1) | FR2864001B1 (ja) |
WO (1) | WO2005061305A1 (ja) |
Families Citing this family (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2895347B1 (fr) | 2005-12-23 | 2008-02-15 | Renault Sas | Procede et dispositif de commande de l'angle de braquage de roue arriere d'un vehicule automobile |
FR2896753B1 (fr) | 2006-01-27 | 2008-04-11 | Renault Sas | Procede et dispositif de compensation de variations de couple |
FR2902067B1 (fr) | 2006-06-09 | 2008-09-26 | Renault Sas | Procede et systeme de commande de roue directrice de vehicule |
FR2903952B1 (fr) * | 2006-07-21 | 2009-06-12 | Renault Sas | Dispositif et procede de surveillance de la commande du braquage de roue arriere directrice. |
FR2991279B1 (fr) | 2012-06-01 | 2015-07-17 | Renault Sa | Dispositif de controle de trajectoire d'un vehicule. |
FR2991276B1 (fr) | 2012-06-04 | 2014-05-16 | Renault Sa | Dispositif de controle de trajectoire d'un vehicule |
FR2992931B1 (fr) | 2012-07-03 | 2014-08-08 | Renault Sa | Dispositif et procede de controle de trajectoire d'un vehicule. |
FR3026709B1 (fr) | 2014-10-02 | 2018-01-26 | Renault S.A.S | Procede de reglage du comportement d'un vehicule automobile |
FR3041590B1 (fr) | 2015-09-30 | 2018-08-17 | Renault S.A.S | Systeme de commande de la direction d'un vehicule automobile en cas de collision imminente avec un obstacle |
US10343685B2 (en) * | 2016-09-28 | 2019-07-09 | Baidu Usa Llc | Physical model and machine learning combined method to simulate autonomous vehicle movement |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0939821A (ja) * | 1995-08-02 | 1997-02-10 | Mitsubishi Motors Corp | 車両の後輪操舵制御装置 |
JPH09249145A (ja) * | 1996-03-15 | 1997-09-22 | Toyota Motor Corp | 車両の運動制御装置 |
Family Cites Families (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4706979A (en) * | 1985-07-12 | 1987-11-17 | Nissan Motor Co., Ltd. | Steering control system for wheeled vehicle |
DE3816254A1 (de) * | 1988-05-11 | 1989-11-23 | Siemens Ag | Steuereinheit zur lenkung der hinterraeder eines strassenfahrzeuges |
US5524079A (en) * | 1992-09-01 | 1996-06-04 | Matsushita Electric Industrial Co., Ltd. | Rear wheel steering angle controlling apparatus of four-wheel steering vehicle |
US5642281A (en) * | 1994-01-14 | 1997-06-24 | Matsushita Electric Industrial Co., Ltd. | Steering angle control apparatus |
JPH0848256A (ja) * | 1994-08-08 | 1996-02-20 | Toyota Motor Corp | 車両の運動制御装置 |
JP3067564B2 (ja) * | 1995-01-12 | 2000-07-17 | トヨタ自動車株式会社 | 車両旋回制御装置 |
DE10039782A1 (de) | 2000-08-16 | 2002-02-28 | Daimler Chrysler Ag | Verfahren zur Regelung der Gier-und Querdynamik bei einem Straßenfahrzeug |
-
2003
- 2003-12-18 FR FR0314929A patent/FR2864001B1/fr not_active Expired - Fee Related
-
2004
- 2004-12-06 ES ES04300850T patent/ES2308129T3/es active Active
- 2004-12-06 EP EP04300850A patent/EP1544080B1/fr active Active
- 2004-12-06 AT AT04300850T patent/ATE403590T1/de not_active IP Right Cessation
- 2004-12-06 DE DE602004015554T patent/DE602004015554D1/de active Active
- 2004-12-16 WO PCT/FR2004/050705 patent/WO2005061305A1/fr active Application Filing
- 2004-12-16 KR KR1020067014289A patent/KR101139636B1/ko active IP Right Grant
- 2004-12-16 JP JP2006544521A patent/JP4863880B2/ja not_active Expired - Fee Related
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0939821A (ja) * | 1995-08-02 | 1997-02-10 | Mitsubishi Motors Corp | 車両の後輪操舵制御装置 |
JPH09249145A (ja) * | 1996-03-15 | 1997-09-22 | Toyota Motor Corp | 車両の運動制御装置 |
Also Published As
Publication number | Publication date |
---|---|
EP1544080B1 (fr) | 2008-08-06 |
WO2005061305A1 (fr) | 2005-07-07 |
ES2308129T3 (es) | 2008-12-01 |
JP4863880B2 (ja) | 2012-01-25 |
FR2864001B1 (fr) | 2007-11-23 |
FR2864001A1 (fr) | 2005-06-24 |
EP1544080A1 (fr) | 2005-06-22 |
KR20060132865A (ko) | 2006-12-22 |
DE602004015554D1 (de) | 2008-09-18 |
ATE403590T1 (de) | 2008-08-15 |
KR101139636B1 (ko) | 2012-05-15 |
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