JP2893972B2 - Garage control system for four-wheel steering vehicles - Google Patents

Abstract

PURPOSE:To safely and accurately take a four-wheel steering vehicle out of a garage without the load of a driver using a controller for controlling the steering angles of front and rear wheels from the outside by storing a track along which the vehicle is put in the garage, and computing an optimal track for taking the vehicle out of the garage, and adding front and rear wheel steering angles so that the vehicle goes along the optimal track. CONSTITUTION:A front-wheel steering angle adding means (a) and a rear-wheel steering angle adding means (b) are provided which add front and rear wheel steering angles in response to control commands from the outside. When a vehicle is put in a garage, the steering angles of the front and rear wheels and the distance traveled by the vehicle are detected by a front-wheel steering angle detection means (c), a rear-wheel steering angle detection means (d) and a travel distance detection means (e), respectively, and also a track along which the vehicle is put in the garage is stored by a track storage means (f). When the vehicle is taken out of the garage, an optimal track for taking the vehicle out of the garage is produced by a takeout track means (g) on the basis of the track along which the vehicle is put the garage and of the size of the vehicle, and control commands by which predetermined front and rear wheel steering angles are added according to the travel distance are output to the front and rear wheel steering angle adding means (a), (b) from a control means (h) for taking the vehicle out of the garage, so that the vehicle goes along the optimal track.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a garage control system for a four-wheel steering vehicle in which both the steering angles of front and rear wheels are externally controlled.

[0002]

2. Description of the Related Art Conventionally, as a four-wheel steering vehicle, for example, a vehicle described in Japanese Patent Application Laid-Open No. Sho 62-15172 is known.

In the above-mentioned conventional source, the steering wheel and the front wheel are non-cage, and a hydraulic actuator for giving a steering angle to each of the front and rear wheels by hydraulic control is provided. The controller inputs steering wheel angle information and vehicle speed information by sensor signals. Also, there is disclosed an apparatus for giving a predetermined steering angle to front wheels and rear wheels according to a steering angle and a vehicle speed by electronic control.

[0004]

However, in the above-described conventional four-wheel-steering vehicle, when the vehicle is taken out of the garage, the garage is taken out by operating the driver's steering wheel. It is necessary to carry out the garage operation, and the steering wheel operation and the gear position switching operation are very troublesome. Also, the controller gives the rear wheels an opposite-phase steering angle with respect to the turning direction of the front wheels,
If a small turning control program that suppresses the turning radius is installed, it is possible to switch and reduce the number of operations when leaving the garage, but there is an overhanging phenomenon of the rear fender part, and it is an advanced method to carry out garage while preventing contact. Handle operation is required.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-described problems. In a garage unloading control device for a four-wheel steering vehicle in which both the steering angles of the front and rear wheels are externally controlled, the vehicle is controlled when the garage is unloaded. It is an object of the present invention to achieve a garage that does not come into contact with other obstacles, and to reduce a driver's steering operation burden by automatically controlling the garage.

[0006]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, a garage unloading control device for a four-wheel steering vehicle according to the present invention stores a garage unloading trajectory when entering a garage, and divides the garage unloading trajectory and a vehicle size when unloading the garage. A means for performing control for giving a predetermined front wheel steering angle and a predetermined rear wheel steering angle so as to follow the optimum garage exiting locus.

As shown in the claim correspondence diagram of FIG. 1, a front wheel steering angle providing means a for providing a front wheel steering angle by an external control command, and a rear wheel steering angle providing means for providing a rear wheel steering angle by an external control command. Wheel steering angle applying means b, front wheel steering angle detecting means c for detecting front wheel steering angle, rear wheel steering angle detecting means d for detecting rear wheel steering angle, and traveling distance detecting means e for detecting traveling distance
And a garage entry locus storage means f for storing a garage entry locus based on the steering angles of the front and rear wheels and the traveling distance when entering the garage, and calculating a garage exit optimal locus based on the garage entry locus and vehicle dimensions when the garage entry is completed. A garage leaving trajectory calculating means g and a predetermined front wheel steering angle and a predetermined rear wheel steering angle are provided to the two steering angle applying means a and b in accordance with the traveling distance so as to follow the garage leaving optimum trajectory when leaving the garage. Garage exit control means h for outputting a control command.

[0008]

In the garage entry trajectory storage means f, the front and rear wheel steering angles detected by the front wheel steering angle detection means c and the rear wheel steering angle detection means d and the travel detected by the travel distance detection means e are stored in the garage entry locus storage means f. The garage entry locus is stored from the distance, and when the garage entry is completed, the garage exit locus calculating means g calculates the optimal garage exit locus based on the garage entry locus and the vehicle dimensions stored in the garage entry locus storage means f. You.

Next, when the vehicle is taken out of the garage, the garage outgoing control means h applies predetermined front wheel steering angles and rear wheel steering angles to the two steering angle applying means a and b so as to follow the optimum garage leaving trajectory. A control command is output.

[0010]

Embodiments of the present invention will be described below with reference to the drawings.

The configuration will be described.

FIG. 2 is an overall system diagram showing a four-wheel steering vehicle to which the garage unloading control device according to the embodiment of the present invention is applied.

As shown in FIG. 2, the four-wheel steered vehicle of the embodiment has a front wheel steering cylinder 2 (corresponding to a front wheel steering angle applying means) for applying a steering angle to the front wheels 1, 1 by hydraulic control.
And a rear wheel steering cylinder 4 for applying a steering angle to the rear wheels 3 and 3 by hydraulic control (corresponding to rear wheel steering angle applying means)
A front wheel steering angle sensor 5 for detecting front wheel steering angle θF (corresponding to front wheel steering angle detecting means), and a rear wheel steering angle sensor 6 for detecting rear wheel steering angle θR (corresponding to rear wheel steering angle detecting means). , Handle 7
Steering wheel angle sensor 8 for detecting the steering angle .theta.S given by the operation to the vehicle, a vehicle speed sensor 9 for detecting the vehicle speed V, and a gear position sensor 10 for detecting the gear position GP.
A 4WS controller 13 for inputting sensor signals from the sensors 5, 6, 7, and 8 and switch signals from the memory switch 11 and the garage switch 12;
A front wheel hydraulic pressure is generated which receives a front wheel steering angle command δF and a rear wheel steering angle command δR from the S controller 13 and generates a control hydraulic pressure for obtaining a front wheel steering angle θF and a rear wheel steering angle θR according to the steering angle commands δF, δR. A control unit 14 and a rear wheel hydraulic control unit 15 are provided.

The 4WS controller 13 calculates a front wheel steering angle command δF and a rear wheel steering angle command δR according to the steering wheel angle θ S and the vehicle speed V during normal running, and performs predetermined control processing when the vehicle enters and exits the garage. A front wheel steering angle command δF and a rear wheel steering angle command δR that draw a turning trajectory along the shortest route R out of the garage, which is the optimum trajectory to be moved out, are calculated.

In FIG. 2, reference numeral 16 denotes a lamp.
In response to a command from the 4WS controller 13, it is displayed that garage entry information is being stored when the garage is entered, or that the shortest garage exit route R is being calculated, or garage exit control is being performed along the garage exit shortest route R when leaving the garage. Is displayed.

Next, the operation will be described.

FIG. 3 is a flow chart showing the flow of the garage entry information storage process, the calculation of the garage exit shortest route, and the storage operation performed by the 4WS controller 13. Each step will be described below.

In step 30, it is determined whether or not the memory switch 11 is ON. If it is OFF, the process proceeds to step 31, the garage information memory is cleared, the process proceeds to step 32, and the lamp 16 is turned off. . On the other hand, when the garage is started, the memory switch 11 is turned on.
The process proceeds to step 3 and thereafter, and the storage process of the garage entry information is performed until the memory switch 11 is turned off upon completion of the garage entry.

That is, in step 33, each sensor 5,
The front wheel steering angle θF, rear wheel steering angle θR, vehicle speed V,
The gear position GP is read, and in step 34, the travel distance L is calculated from the vehicle speed V, the gear position GP, and the time t (corresponding to travel distance detection means). Then, in step 35,
The front wheel steering angle θF and the rear wheel steering angle θR with respect to the traveling distance L are stored (corresponding to a garage entry locus storage means). Then, in step 36, a lamp blinking command indicating the garage entry information memory time is output. The flow of steps 33 to 36 is repeated until the garage is completed and the memory switch 11 is turned off in step 38. However, if it is determined in step 37 that the predetermined time has elapsed, the process proceeds to steps 31 and 32, and the garage information memory stored so far is cleared, and the lamp 16
Is turned off.

At step 38, the OF of the memory switch 11 is turned off.
When YES is determined by the F switching operation, the process proceeds to step 39, where the shortest route R for departure is calculated based on the information stored in the departure information memory and the preset vehicle size, and the departure calculated is calculated. Information on the shortest route R is stored in a memory (corresponding to a garage leaving trajectory calculating means).

FIG. 4 is a flow chart showing the flow of the garage unloading control operation performed by the 4WS controller 13, and each step will be described below.

In step 40, the garage exit switch 12
Is determined to be ON, and the garage unloading control is started when the garage unloading switch 12 is switched from OFF to ON at the start of the garage unloading.

In step 41, the shortest route R
And the vehicle speed V are read, and in step 42, the traveling distance is calculated based on the vehicle speed V and the time t (corresponding to traveling distance detecting means). Then, in step 43, the front wheel steering angle command δF and the rear wheel steering angle command δR are obtained according to the traveling distance L and the shortest route R out of the garage, and both the steering angle commands δF, δR
Is output to the front wheel hydraulic control unit 14 and the rear wheel hydraulic control unit 15 (corresponding to a garage exit control unit). In step 44, a lamp lighting command indicating that the garage exit control is being performed is output. In step 45, it is determined whether or not the traveling of the traveling distance L is completed. When the traveling distance L is not completed, the operations of steps 41 to 44 are repeated.

If it is determined in step 45 that the traveling of the traveling distance L has been completed, the process proceeds to step 46, where a lamp extinguishing command is output, and in step 47, the stored information of the shortest route R out of the garage is cleared.

Next, the operation at the time of putting in and out of the garage as shown in FIG. 7 will be described.

When entering the garage, turn on the memory switch 11
Step 35 until the switch is turned off after
5, the front wheel steering angle θF and the rear wheel steering angle θR with respect to the travel distance L are stored. That is, in FIG.
(A), (B), (C), (D) correspond to (A), (B), (C), (D) in FIG.
The garage was started, the vehicle traveled backward from the point (A) to the point (B), and at the point (B), the steering wheel 7 was turned from the left-turn state to the right-turn state, indicating that the shift position was switched to the forward side. The vehicle travels forward from the point (B) to the point (C), and at the point (C), the steering wheel 7 is changed from the right-hand turning state to the left-hand turning state, and the shift position is switched to the retreat side. ) It indicates that the garage was completed after traveling backward to the point.

Then, when the garage is completed, in step 39, the garage leaving shortest route R is determined by the information stored in the garage storage information memory and the vehicle size set in advance.
Is calculated, and the calculated information of the shortest route R out of the garage is stored in the memory. That is, based on the garage entry information shown in FIG. 5, first, a garage entry locus as shown by a thin line in FIG. 7 is obtained, and the vehicle dimensions are superimposed on this garage entry locus as shown by a dotted line in FIG. When combined, a runnable area that does not contact surrounding obstacles when entering the garage is determined. And, to be included in this runnable area,
The curve shown by the bold line in FIG. 7 connecting the point (D) to the point (A) ｛= point (E) で at the shortest distance is determined as the shortest route R out of the garage.

Next, when the garage is released, the garage release switch 12
Is turned on, in step 43, the front wheel steering angle command δF and the rear wheel steering angle command δR are obtained according to the traveling distance L and the shortest route R out of the garage, and the two steering angle commands δF, δ
R is output to the front wheel hydraulic control unit 14 and the rear wheel hydraulic control unit 15. That is, as shown in FIG. 6, the memory information of the garage leaving shortest route R is set as the values of the front wheel steering angle command δF and the rear wheel steering angle command δR with respect to the traveling distance L, and when the garage leaving is started, The travel distance L from the start of garage departure is calculated as needed, and the front wheel steering angle command δF and the rear wheel steering angle command δR corresponding to the travel distance L are read and output. For example, when the traveling distance from the garage start is L1, as shown in FIG. 6, the front wheel steering angle command δF1 and the rear wheel steering angle command δR1 are output, and the steering angle commands δF1, δR1 Given the corresponding front wheel steering angle θF1 and rear wheel steering angle θR1, the shortest route R
The traveling from the point (D) to the point (E) in FIG.

In the garage unloading control, when the driver operates the steering wheel or performs the braking operation to avoid an unexpected obstacle, the control is stopped and the vehicle is returned to the normal operation by operating the steering wheel. You may do it.

As described above, in the embodiment, in the garage unloading control device of a four-wheel steering vehicle in which both the steering angles θF and θR of the front and rear wheels 1 and 3 are externally controlled, a memory switch is provided when the garage is inserted. The garage entry locus is stored based on the ON / OFF operation of the garage 11, and a predetermined garage exit route R is determined based on the garage entry locus and the vehicle size based on the ON operation of the garage unloading switch 12 when the garage is released. Since the control device gives the front wheel rudder angle θF and the rear wheel rudder angle θR, the garage can be achieved without the vehicle coming into contact with the surrounding obstacles when the garage is taken out. Automatic control can reduce the driver's handle operation burden.

Although the embodiment has been described with reference to the drawings, the specific configuration is not limited to the embodiment, and any changes or additions without departing from the gist of the present invention are included in the present invention. It is.

For example, in the embodiment, an example in which the vehicle is put in and out of a garage surrounded by obstacles such as walls on three sides has been described. However, as shown in FIG. 8, vehicles are parked in front and rear. The present invention can be applied to the case of parallel parking in which parking is performed in the interim, and can be applied as a time corresponding to taking in and out of the garage. In this case, an S-shaped route is set as the shortest route R.

In the embodiment, the example in which the operable area is determined based on the garage entry locus and the vehicle size is shown. The travelable area may be determined.

[0034]

As described above, according to the present invention, in the garage unloading control device of a four-wheel steering vehicle in which the steering angles of the front and rear wheels are both externally controlled, the garage entering locus is stored when the garage is entered. Means for giving a predetermined front wheel steering angle and a predetermined rear wheel steering angle so as to follow the garage entry trajectory and the optimum garage entry trajectory determined by the vehicle size when the vehicle is taken out of the garage. The garage can be achieved without contact with the obstacle, and the driver's operation burden on the steering wheel can be reduced by automatic control of the garage.

[Brief description of the drawings]

FIG. 1 is a diagram corresponding to a claim showing a garage unloading control device for a four-wheel steering vehicle according to the present invention.

FIG. 2 is an overall system diagram showing a four-wheel steering vehicle to which the garage unloading control device of the embodiment is applied.

FIG. 3 is a flowchart illustrating a flow of a storage process of garage entry information, a calculation of a garage exit shortest route, and a storage process operation performed by the 4WS controller of the embodiment device.

FIG. 4 is a flowchart showing a flow of a garage unloading control operation performed by a 4WS controller of the embodiment device.

FIG. 5 is a diagram illustrating a specific example of garage entry information in the embodiment device.

FIG. 6 is a diagram illustrating a specific example of garage leaving shortest route information in the embodiment device.

FIG. 7 is an operation explanatory view showing a garage getting in and out state of the four-wheel steering vehicle of the embodiment.

FIG. 8 is an operation explanatory view showing a parallel parking state in the four-wheel steering vehicle of the embodiment.

[Explanation of symbols]

 a front wheel steering angle providing means b rear wheel steering angle providing means c front wheel steering angle detecting means d rear wheel steering angle detecting means e mileage detecting means f garage entering locus storage means g garage leaving locus calculating means h garage leaving controlling means

──────────────────────────────────────────────────の Continued on the front page (51) Int.Cl. ⁶ Identification code FI B62D 13:00

Claims (1)

(57) [Claims] 1. A front wheel steering angle providing means for providing a front wheel steering angle in response to an external control command, a rear wheel steering angle providing means for providing a rear wheel steering angle in accordance with an external control command, and detecting a front wheel steering angle. Front wheel steering angle detecting means, rear wheel steering angle detecting means for detecting rear wheel steering angle, running distance detecting means for detecting running distance, and A garage entry locus storage means for storing a trajectory, a garage exit locus calculation means for calculating a garage exit optimal trajectory based on the garage entry locus and the vehicle dimensions when the garage entry is completed;
Garage exit control means for outputting a control command for applying a predetermined front wheel steering angle and a rear wheel steering angle to the two steering angle applying means in accordance with the traveling distance so as to follow a garage exit optimum locus. A garage control device for a four-wheel steering vehicle.