JP2009280075A5

JP2009280075A5 -

Info

Publication number: JP2009280075A5
Application number: JP2008133869A
Authority: JP
Filing date: 2008-05-22
Publication date: 2011-05-06
Anticipated expiration: 2028-05-22

Claims

  In a wheel turning device comprising a turning actuator for turning left and right rear wheels, a steering handle for turning left and right front wheels, and a control means for controlling the operation of the turning actuator,
  The control means includes
  Mode transition means for setting a control mode for controlling the operation of the steering actuator by an external signal input to a forced control mode for controlling the operation of the steering actuator so that the steering actuator returns to a neutral position; ,
  Based on the operation amount of the steering wheel in the steering wheel operation performed during the forced control mode, a target operation amount that is an operation amount necessary for the turning actuator to return to the neutral position in the forced control mode is calculated. Target operating amount calculating means;
  Actuator actuation means for actuating the steering actuator by the target actuation amount during the forced control mode;
  A wheel turning device comprising:

In the wheel steering apparatus according to claim 1 ,
The target operation amount calculating means calculates the target operation amount based on setting means in which a relationship between the operation amount of the steering handle and the target operation amount in a steering wheel operation performed during the forced control mode is set in advance. A wheel turning device characterized by calculating.

In the wheel steering apparatus according to claim 2 ,
A steering wheel operation performed during the forced control mode is an operation for returning the steering handle from an operation position at which a current position of the steering actuator can be estimated to a neutral position.

In the wheel steering apparatus according to claim 2 ,
The current position of the steering actuator is estimated in advance,
The wheel steering device according to claim 1, wherein an operation amount of the steering wheel in a steering wheel operation performed during the forced control mode is determined based on an estimated current position.

In the wheel steering device according to any one of claims 1 to 4 ,
The wheel steering apparatus according to claim 1, wherein the control means further includes forced control end means for ending the forced control mode when the steering actuator is operated by the target operation amount.

In the wheel steering apparatus according to any one of claims 1 to 5 ,
The control means includes
Vehicle state determination means for determining whether the vehicle state is a predetermined state during the forced control mode;
Forced control stopping means for stopping the forced control mode when the vehicle state is determined to be a predetermined state by the vehicle state determining means;
A wheel steering apparatus further comprising:

In the wheel steering apparatus according to claim 6 ,
The wheel turning apparatus, further comprising stop notification means for notifying the stop of the forced control mode by the forced control stop means.

In the wheel steering device according to any one of claims 1 to 7 ,
A wheel turning apparatus, further comprising forced control mode transition notifying means for notifying that a control mode for controlling the operation of the steering actuator by the control means has shifted to the forced control mode.

In the wheel steering apparatus according to any one of claims 1 to 8 ,
The wheel steering apparatus according to claim 1, wherein the control means further includes an operation speed limiting means for limiting an operation speed of the steering actuator that operates during the forced control mode to a predetermined speed or less.

  A steering actuator neutral position return method for returning a steering actuator for steering left and right rear wheels of a vehicle to a neutral position,
  A current position estimating step for estimating a current position of the steering actuator;
  By inputting an external signal to the control means for controlling the operation of the steering actuator, the control means changes the control mode for controlling the operation of the steering actuator from the current position to the neutral position. A mode transition step for setting the forced control mode to control the operation of the steering actuator so as to return; and
  A steering handle operating step for operating a steering handle for steering left and right front wheels;
  Setting means in which a relationship between an operation amount of the steering wheel operated in the steering wheel operation step and a target operation amount that is an operation amount necessary for operating the steering actuator from a current position to a neutral position is set in advance. On the basis of the target operation amount calculation step in which the control means calculates the target operation amount,
  A neutral position return step for returning the steered actuator to a neutral position by actuating the steered actuator by the actuating amount calculated in the target actuating amount calculating step;
  The neutral position return method of the steering actuator including

In the steering actuator neutral position return method according to claim 10 ,
The current position estimating step is a step of estimating the current position by operating the steering handle to linearly travel the vehicle in an oblique direction so that the front wheel turning angle and the rear wheel turning angle coincide with each other.
The steered actuator neutral position return method, wherein the steering handle operating step is a step of operating the steering handle so that the vehicle returns to the neutral position from the operation position in a state where the vehicle can travel in a straight line.

In the turning actuator neutral position return method according to claim 10 ,
The current position estimating step is a step in which an operator measures the current position of the steered actuator using a measuring device,
In the steering handle operation step, an operator investigates the operation amount of the steering handle corresponding to the target operation amount set by the setting means based on the current position measured in the current position estimation step, A steering actuator neutral position return method characterized in that the step is a step in which an operator operates the steering handle by the investigated operation amount.