JP3173269B2 - Warning system for steering system excitation type vehicle - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an alarm device suitable for use in a motor vehicle, and more particularly, to a steering system excitation device which gives a warning to a driver by causing a micro vibration of a steering operation means (ie, a steering wheel) at a high frequency. The present invention relates to a warning device for a vehicle.

[0002]

2. Description of the Related Art Various types of warning means are used to alert a driver when driving a car. The simplest warning means is a road sign. Providing projections and minute irregularities to transmit vibration and sound to the driver of the traveling vehicle through the wheels, for example, means for giving attention to a decrease in the driver's awakening level, downhill slopes, sharp curves, etc. ing.

[0003] Further, there has been proposed a warning means which detects a decrease in the arousal level of a driver and emits a scent or sound to call attention.

[0004]

However, in the above-mentioned warning means provided with a projection or the like on the road, a warning is given to all drivers of the passing vehicle, and for example, attention should be paid to a driver whose awakening degree has decreased. Drivers cannot be warned according to their individual circumstances, such as prompting. In addition, it is doubtful that the means of emitting a scent and warning when the driver's arousal level decreases will provide a sufficient warning effect, and the means of issuing a sound and warning will sound even to persons other than the driver who got on the vehicle. In some cases, it can cause discomfort.

[0005] Therefore, it is desired to develop means capable of giving a warning only to a required vehicle, having a sufficient warning effect, and giving a warning without giving any discomfort to a person other than the driver. As such a warning means, it is conceivable to operate the steering system of the vehicle. In other words, in a vehicle equipped with an automatic steering device that can perform steering without the driver's steering operation, the driver is warned by operating this automatic steering device and forcibly generating a small amount of steering. Means of giving are conceivable. Further, in a vehicle equipped with a power steering device, means for giving a warning to a driver by giving a slight change to steering assist pressure or steering reaction force control may be considered.

However, in the means for operating the automatic steering apparatus, there is a fear that even a minute steering angle is generated and adversely affects the behavior of the vehicle. Such a situation may adversely affect the behavior of the vehicle. SUMMARY OF THE INVENTION The present invention has been made in view of such a problem, and is intended only for a vehicle driver who needs to be warned while avoiding adversely affecting the behavior of the vehicle and giving uncomfortable feeling to occupants other than the driver. It is an object of the present invention to provide a steering system vibration-type vehicle warning device that can provide a warning.

[0007]

According to the first aspect of the present invention, there is provided a warning system for a steering system vibration type vehicle according to the first aspect of the present invention, comprising: warning determination means for determining whether or not a warning is required for a driver; Steering operation means for operating the driver to steer the vehicle, high-frequency minute vibration input means for inputting high-frequency minute vibration for warning within a range that does not affect the vehicle behavior to the steering operation means; the steering actuator; Steering actuator
A steering transmission system from the motor to the steering operation means.
It is, based on information from the alarm decision unit, when it requires some warning to the driver, a vibration input control means for operating the high-frequency micro-vibration input means,該操Kajimisao
Steering transmission provided between the operating means and the steered wheels of the vehicle
The system consists of a hydraulic actuator with a hydraulic cylinder.
The formed steering actuator is input to steering operation means.
Operating in response to an artificial steering operation.
A power steering mode for assisting operation, and
Operate the rudder actuator regardless of the artificial steering operation.
Auto-steering mode to perform automatic steering by operating
Power steering mechanism that can switch to any of the modes
And the automatic steering mode of the power steering mechanism is provided.
The hydraulic actuator adjusts the hydraulic pressure of the hydraulic cylinder during
A control valve for controlling the operation of the
If the control valve is configured to add dithering
In addition, the high-frequency minute vibration input means is provided with a signal for the dither processing.
Signal level to increase the warning
The vibration input control means is configured to apply a small wave vibration.
The stage is the power steering mechanism of the power steering mechanism.
That the driver needs some warning during
If it is determined, the power steering mechanism for a predetermined time
From the power steering mode to the automatic steering mode
After switching, the high frequency micro vibration input means is activated.
After a predetermined time has elapsed, the power steering mechanism is
Set to return to the power steering mode
It is characterized by having been.

According to a second aspect of the present invention, there is provided a warning device for a steering system vibration type vehicle according to the first aspect of the present invention, wherein the warning judging means includes a warning when a driver needs some kind of warning. The vibration input control means outputs judgment information according to the level, and controls the high-frequency micro-vibration input means so that a high-frequency warning micro-vibration at a level corresponding to the warning level is input to the steering operation means. It is set to perform Rutotomoni, the steering operating means and handling of the vehicle
Automatic steering is performed by the steering transmission system provided between the steering wheel
And a steering actuator for automatic steering.
High-frequency minute vibration input means, the steering actuator,
A steering transmission from the steering actuator to the steering operation means;
It is characterized by the fact that it is composed of kei .

Further, the steering system vibration type vehicle warning system of the present invention described in claim 3, in the structure according to claim 2, wherein
Hydraulic actuator in which the steering actuator has a hydraulic cylinder
Adjusts the hydraulic pressure of the hydraulic cylinder.
To control the operation of the hydraulic actuator
A control valve is provided and dithering is applied to the control valve
The high frequency micro vibration input means is configured to
The steering operation means by increasing the signal level of the
It is configured to give the high frequency vibration for warning.
It is characterized by:

[0010]

[0011]

[0012]

[0013]

[0014]

In a preferred embodiment, when the vibration input control means determines that the driver needs any warning during the power steering mode of the power steering mechanism, the vibration input control means controls the power steering mechanism for a predetermined time. After switching from the steering mode to the automatic steering mode, the high-frequency minute vibration input means is operated, and after a predetermined time has elapsed, the power steering mechanism is returned to the power steering mode again. to so that is configured to hold.

[0016]

In the warning device for a steering system vibration type vehicle according to the first aspect of the present invention, when the warning determining means determines that some kind of warning is necessary for the driver, the vibration input control means causes the warning determining means to execute the warning. The high frequency micro vibration input means is operated based on the judgment information. Accordingly, the high-frequency minute vibration input means inputs the high-frequency minute vibration for warning within a range that does not affect the vehicle behavior to the steering operation means, so that the driver can detect any warning through the steering operation means. In particular, between the steering operation means and the steered wheels of the vehicle
Power steering provided in the provided steering transmission system
The mechanism becomes a hydraulic actuator with a hydraulic cylinder
The steering actuator composed of
Operate according to the artificial steering operation
Power steering mode assists in the steering operation
And the steering actuator is related to the artificial steering operation.
Automatic steering mode, in which automatic steering is performed by operating
And set to one of these modes. The high frequency
In the micro vibration input means, such power steering
By actuating the steering actuator of the mechanism, the steering
A steering transmission system from the actuator to the steering operation means is provided.
Through this, a high-frequency small vibration for warning is given to the steering operation means.
You. Further, the automatic steering mode of the power steering mechanism
When operating, the steering actuator of the power steering mechanism
The hydraulic cylinder pressure is adjusted through the control valve.
The operation of the control valve is controlled by the automatic steering mode.
Sometimes dithered to reduce friction and prevent sticking
Responsiveness can be improved. And the high frequency minute
The vibration input means increases the signal level of the dither processing
By applying the warning high-frequency minute vibration to the steering operation means
You. That is, the signal level of general dither processing is low.
Normally, the driver outputs the dither processing signal to the steering operator.
Cannot be sensed through the stage, but the signal level for dithering
By increasing the driver, the driver
Can be sensed through the operating means. Further, the vibration input control
Means are provided for the power steering of the power steering mechanism.
The driver needs some warning when in the driving mode
If it is determined, the power of the 該Pa word steering mechanism
Switching from the steering mode to the automatic steering mode
Then, the high frequency micro vibration input means is operated. concrete
The vibration input control means includes:
When the driver is in the power steering mode
If it is determined that such a warning is necessary, the warning
Set the power steering mechanism to the power steering mode
To the automatic steering mote,
Activate the vibration input means, and after a predetermined time elapses,
Return the steering mechanism to the power steering mode again.
Attribute.

In the warning device for a steering system vibration type vehicle according to the second aspect of the present invention, when a warning is required for the driver, the warning determining means outputs determination information according to the warning level. Then, the vibration input control means controls the high-frequency micro-vibration input means according to the determination information so that a high-frequency warning micro-vibration at a level corresponding to the warning level is input to the steering operation means. Do. This allows
The driver can detect the warning together with the level of the high-frequency minute vibration for warning according to the level.

Further, in the warning device for a steering system vibration type vehicle according to the second aspect of the present invention, the high frequency minute vibration input means includes:
The automatic steering by operating the rows of the Hare automatic steering steering actuator, through the steering transmission system which leads to the steering operating means from the steering actuator, gives a warning for high frequency micro-vibration to the steering operating means.

[0019] In the steering system vibration type warning device for a vehicle of the present invention of the above claim 3, wherein the row of the Hare automatic steering steering actuator automatic steering, the operation is adjusted to the hydraulic cylinder hydraulic through a control valve Controlled, the control valve is subjected to a dither process to reduce friction and prevent sticking, thereby improving responsiveness. The high-frequency minute vibration input means applies the warning high-frequency minute vibration to the steering operation means by increasing the signal level of the dither processing. That is, since the signal level of general dither processing is low, the driver cannot normally detect the dither processing signal through the steering operation means. However, by increasing the signal level of dither processing, the driver can convert the dither processing signal into the steering signal. Can be sensed through the operating means.

[0020]

[0021]

[0022]

[0023]

[0024]

The vibration input control means includes a power steering unit.
The driver during the power steering mode of the steering mechanism
If it is determined that any warning is required,
Only the power steering mechanism
After switching from the mode to the automatic steering mode,
Activates the wave micro-vibration input means, and after a predetermined time elapses,
The power steering mode again.
After returning to the power steering mode, the power steering
If the vibration input control means determines that the driver needs any warning during the power steering mode of the power steering mechanism, the vibration input control means sets the power steering mechanism for a predetermined time. When the power steering mode is switched from the power steering mode to the automatic steering mode, the high-frequency minute vibration input means is operated, and after a predetermined time has elapsed, the power steering mechanism is returned to the power steering mode again. Control is performed to maintain the steering mode.

[0026]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective view of a steering system vibration type warning device for a vehicle according to an embodiment of the present invention.
FIG. 1 is a diagram showing a configuration of a steering system of a vehicle equipped with the present device,
2 and 3 show the characteristics of the high-frequency micro-vibration used in the present apparatus, and FIG. 4 is a flowchart showing the control operation of the present apparatus.

As shown in FIG. 1, the warning device for a steering system vibration type vehicle is based on a warning judgment means 50 for judging whether or not a warning should be given to a driver and a warning judgment from the warning judgment means 50. Warning means 51 for giving a warning. The warning determination unit 50 detects the decrease in the driver's arousal level by, for example, a detection unit (not shown), or based on the traveling state of the vehicle and the traveling environment such as the road on which the vehicle travels and objects on the road. When detecting a deviation from the driving lane, entering a curve at a high speed, suddenly entering a steep hill, or abnormally approaching another vehicle, etc., a warning level is set according to each state, and a warning signal corresponding to this level is set. And is provided in an electronic control unit (ECU) 26.

The warning means 51 is, in principle, by inputting a high-frequency small vibration for warning within a range that does not affect the behavior of the vehicle to the steering wheel 40 as a steering operation means for operating the driver to steer the vehicle. It is intended to give a warning to the driver without impairing the running performance of the vehicle. For this reason, the warning unit 51 controls the operation of the high-frequency minute vibration input unit 51A for inputting the high-frequency minute vibration for warning to the steering wheel 40 and the operation of the high-frequency minute vibration input unit 51A based on the signal from the warning determination unit 50. And a vibration input control means 51B. This vibration input control means 51B is also provided in the ECU 26.

Then, the high-frequency minute vibration input means 51A
Uses a hydraulic power steering mechanism 30 having an automatic steering mechanism 31. Therefore, the hydraulic power steering mechanism 30 will be described first. This hydraulic power steering mechanism 30 has a structure shown in FIG.
As shown in FIG. 3, a steering wheel 40 as a steering operation means for operating the driver to steer the vehicle, and a steering force transmitting member (here, a rack of a rack and pinion mechanism) 32 interlocked with the steering wheel 40.
A hydraulic pump 20 as a hydraulic pressure source, a hydraulic cylinder 33 for applying an assist force to a rack 32 as a steering force transmitting member, and a hydraulic cylinder that operates in conjunction with the steering wheel 40 and is driven by the hydraulic pump 20. The hydraulic automatic steering mechanism 31 applies an automatic steering force to the steering force transmitting member 32 by using a hydraulic cylinder 33.

In this steering system hydraulic circuit, part of the output from the hydraulic pump 20 is diverted to a four-wheel steering system (4WS) (not shown) through a shunt (shunt valve) 21. In this steering system hydraulic circuit, a hydraulic source switching valve 35 is provided in an oil passage between the hydraulic pump 20 and the power steering valve 34 for the hydraulic automatic steering mechanism 31. Switching valve 35 and hydraulic cylinder 33
The automatic steering angle control valve 36,
A mode switching valve 37 is provided, and an automatic steering force control valve 38 is additionally provided to the automatic steering angle control valve 36.

The hydraulic pressure source switching valve 35 is a mode for guiding hydraulic oil from the hydraulic pump 20 to the power steering valve 34 (this is referred to as a power steering mode) and to an automatic steering force control valve 36 on the hydraulic automatic steering mechanism 31 side. Mode (this is called an automatic steering mode). Specifically, the valve body 35A having both these modes
And a return spring 35B for urging the valve body 35A to the power steering mode side, and a solenoid 35C for driving the valve body 35A to the automatic steering mode side against the return spring 35B.
Are controlled by an electronic control unit (ECU) 26.

The automatic steering angle control valve 36 is a valve that can set the direction of automatic steering to either left steering or right steering, and controls the hydraulic oil supplied from the hydraulic pump 20 through the hydraulic source switching valve 35. A mode in which the hydraulic cylinder 33 leads to the left oil chamber (steering to the left is referred to as a left steering mode), a mode in which the hydraulic cylinder 33 is guided to the right oil chamber (steering in the right direction is referred to as a right steering mode), and these left steering modes By switching to the right steering mode, it is possible to switch between the neutral standby mode for promptly introducing the operation to the desired oil chamber and the automatic steering stop mode for removing the operating oil pressure in both the left and right oil chambers. The left steering mode, the right steering mode, and the neutral standby mode can be collectively referred to as an automatic steering operation mode.

In particular, in the neutral standby mode, in order to maintain the servo performance, the neutral underlap state (10% or less) is set so that the hydraulic pressure in both the left and right oil chambers can be maintained at the required pressure level without being completely removed. Underlap). The automatic steering angle control valve 36 will be described in more detail. The automatic steering angle control valve 36 includes a valve body 36A having each of these modes, and a return for urging the valve body 36A to the automatic steering stop mode side. A spring 36B and a valve body driving mechanism 36C for driving the valve body 36A to the automatic steering operation mode side against the return spring 36B are provided. Here, a pressure control valve 36D composed of a return spring 36a and a solenoid 36b is used as the valve body drive mechanism 36C, and the power (voltage or current) supplied to the solenoid 36b is adjusted so that the valve body 36A The valve element 36A can be driven to a required mode while adjusting the magnitude of the hydraulic pressure applied to one end. That is, if no oil pressure is applied to one end of the valve body 36A, the automatic steering stop mode is set. However, if oil pressure is applied, for example, a right steering mode when the oil pressure level is low, a neutral standby mode when the oil pressure level is medium, and a left steering mode when the oil pressure level is high. It can be set to. The solenoid 36b is also controlled by the ECU 26.

The automatic steering force control valve 38 is a pressure control valve that controls the automatic steering force by adjusting the hydraulic pressure of the hydraulic oil guided from the hydraulic pressure source switching valve 35 to the automatic steering angle control valve 36. Return spring 38A and solenoid 38
B, the hydraulic pressure of the hydraulic oil output to the automatic steering angle control valve 36 is adjusted by adjusting the power (voltage or current) supplied to the solenoid 38B. The solenoid 38B is also controlled by the ECU 26.

The mode switching valve 37 guides hydraulic oil to the hydraulic cylinder 32 from the power steering valve 34 side (this is referred to as a power steering mode) and guides the hydraulic oil from the automatic steering force control valve 36 side of the hydraulic automatic steering mechanism 31 side. Mode (this is called an automatic steering mode). Specifically, a valve body 37A having both of these modes, a return spring 37B for urging the valve body 37A toward the power steering mode, and a valve body 37A
A solenoid 37C for driving A to the automatic steering mode side against the return spring 37B is provided, and the solenoid 37C is also controlled by the ECU 26.

The above-mentioned automatic steering angle control valve 36 has a process of adding a high-frequency small signal to a command signal (so-called,
Dither processing) is performed, and the steering wheel 40
The input of the high frequency microvibration for warning given to this uses the signal of this dither. The dither process is a process for avoiding phenomena such as friction and sticking of the spool and improving operation responsiveness by slightly vibrating the spool (valve element) 36A so as not to stop. This is a signal having a very high constant frequency (for example, several tens to 200 Hz). The transmission rate (yaw angular velocity gain) of the vehicle yaw angular velocity response to the steering wheel angle input is, as shown in FIG.
When the frequency of the steering wheel angle input increases, it becomes extremely low,
At the signal frequency of the dither processing as shown in FIG.
As shown in FIG. 3A, there is no change in the steering wheel angle, and the vehicle yaw angular velocity response becomes negligible.

The signal level (amplitude) of such dither processing is low, so that the driver
Can not detect the signal of this dither through, but by increasing the signal level (amplitude) of the dither processing,
While previously not give influence on the behavior of the vehicle, it is possible to sense as a dynamic vibration signals of the dither driver through the steering wheel 40.

Therefore, the warning means 51 in the steering system vibration type vehicle warning device includes the high-frequency minute vibration input means 51.
As A, the automatic steering angle control valve 36 subjected to the dither processing is used. That is, in the warning means 51,
When a warning signal is output from the warning determination means 50, the vibration input control means 51B sets a signal level (dither level) for dither processing according to the warning level at this time, and sets a control signal based on an automatic steering command, The automatic steering angle control valve 36 is controlled by a control signal to which a dither signal whose dither level is increased to such an extent that the driver can detect it is added.

The steering control by the ECU 26 is as follows.
If automatic steering is required based on the traveling state of the vehicle, the traveling environment of the vehicle (the state of the traveling road or the like), and the steering state of the driver, the hydraulic source switching valve 35 and the mode switching valve 37 are switched to the automatic steering mode. While controlling the steering force control valve 38 in accordance with the set automatic steering force, a required steering angle is provided while performing feedback based on information from a displacement sensor 39 for detecting the position of the steering force transmitting member (rack) 32. The automatic steering angle control valve 36 is controlled so as to obtain the following. If the automatic steering is not required, the power supply to the hydraulic pressure source switching valve 35 and the mode switching valve 37 is cut off, and both are returned to the power steering mode. Is removed, and the power supplied to the automatic steering angle control valve 36 is also cut off to return to the automatic steering stop mode.

Since the above-described dither processing is not performed unless the automatic steering mode is set, a warning can be issued using the dither processing as it is when the steering control by the ECU 26 is set to the automatic steering mode. When the steering control is set to the power steering mode, the mode is temporarily switched from the power steering mode to the automatic steering mode, and a dither process is performed using the automatic steering angle control valve 36, and then a warning is issued. It is supposed to do it.

For this reason, the warning means 51 uses the power
In the ringing mode, a warning signal from the warning determination means 50
Is output, the vibration input control means 51B outputs
Signal level for dither processing (de-
Warning signal output time (signal time) T₁
And warning standby time (standby time) T_TwoFirst, set
Signal time T₁Switch to automatic steering mode only during
Increase the dither level according to the level, one end, power
Waiting time T after returning to steering mode _TwoOnly
Hold the power steering mode. And re
And, if necessary, based on a signal from the warning determination means 50.
Thus, a warning process is performed in the same manner as described above.

[0042] In particular, warning at the time of operation, but is switched from the power steering mode to the automatic steering mode, at this time, steering information obtained immediately prior example cutting conversion, that is, the automatic steering based on the steering angle and the steering angular velocity of the information It is supposed to do it. As described above, the warning operation is performed by switching to the automatic steering mode. For example, in a situation where the steering angle or the steering angular velocity is likely to change on a curved road or the like, the warning operation time (that is, the signal time) is set to reduce the driver's discomfort. ) T ₁
Is preferably set to be short.

The warning device for a steering system vibration type vehicle according to one embodiment of the present invention is configured as described above.
The warning means 51 operates to give a warning to the driver. Since such a warning operation uses the hydraulic power steering mechanism 30 having the automatic steering mechanism 31, first, the power steering mechanism 30 is used. The operation of the steering control by the ECU 26 related to the above will be described.

The steering control by the ECU 26 is performed based on the running state of the vehicle, the running environment of the vehicle (the state of the running road, etc.) and the steering state of the driver. If automatic steering is required, the hydraulic source switching valve 35 and the mode switching valve 37
Is switched to an automatic steering mode, and while controlling the steering force control valve 38 according to the set automatic steering force, feedback is performed based on information from a displacement sensor 39 that detects the position of the steering force transmitting member (rack) 32. The automatic steering angle control valve 36 is controlled so that the required steering angle can be obtained while performing the control.

If the automatic steering is not necessary, the power supplied to the hydraulic pressure source switching valve 35 and the mode switching valve 37 is cut off, and both are returned to the power steering mode, and the power supplied to the steering force control valve 38 is also reduced. Then, the hydraulic pressure is continuously removed, and the power supplied to the automatic steering angle control valve 36 is also discontinued to return to the automatic steering stop mode. Then, in such an automatic steering mode, when a warning signal is output from the warning determination means 50, the vibration input control means 51B causes the vibration input control means 51B to output a signal level of the dither processing according to the warning level at this time. A dither level is set, and the automatic steering angle control valve 36 is controlled by a control signal obtained by adding a dither signal whose dither level is increased to such a degree that the driver can detect the dither level to a control signal based on the automatic steering command.

On the other hand, when the steering control by the ECU 26 is set to the power steering mode, the mode is temporarily switched from the power steering mode to the automatic steering mode, and the dither processing is performed using the automatic steering angle control valve 36. Make a warning before giving a warning. That is, in the power steering mode, the ECU 26 receives the warning determination information from the warning determining means 50 (step S1) as shown in FIG. 4, for example, and responds to the determination whether there is a warning determination (step S1). S2), if any alarm decision, the dither level to fit the warning level proceeds to step S3, setting the signal time T ₁ and the waiting time T _2.

Further, the steering angle and the steering angular velocity at this time are stored (step S4), and the power steering mechanism 3
0 is switched from the power steering mode to the automatic steering mode (step S5). Then, an automatic steering control value is set based on the stored steering angle and the stored steering angular velocity, and the value obtained by adding the dither processing signal of the dither level set in step S3 as a control value is used as the control value.
The automatic steering is performed while controlling the steering wheel 6 (step S6).

In this state, the count of the warning signal output timer is started (step S7).
This until the timer value T1 reaches the signal time T ₁ performs automatic steering of adding a warning signal in step S6. Then, when the timer value T1 is the signal time reaches T _1, the process proceeds from step S8 to step S9, and returns to the power steering mode. In this state, the count of the standby timer is started (step S10), and in the determination of step S11,
The timer value T2 is until it reaches the waiting time T ₂ to continue the power steering mode in step S9. Then, the process returns to step S1 again, and if there is a warning determination, the same processing as described above is performed.

In this manner, in the power steering mode and, of course, in the automatic steering mode, the warning is issued while not adversely affecting the behavior of the vehicle or giving uncomfortable feeling to the occupants other than the driver. only the required vehicle driver, can be as the intensity of the vibration corresponding to the dither level is sensed an alarm through the steering wheel 40.

For example, in a situation where the steering angle or the steering angular velocity is liable to change on a curved road or the like, the signal time T ₁ and the standby time T ₂ are set to be short so that the driver can be warned without giving a feeling of strangeness in steering. Can be issued. In this embodiment, the steering actuator is used for both power steering and automatic steering. However, any actuator capable of giving a warning vibration or the like to the steering operation means such as the steering wheel 40 may be used. However, the present invention is not limited to those used for power steering and automatic steering.

In this embodiment, the steering actuator as the high-frequency minute vibration input means is of a hydraulic type. However, the high-frequency minute vibration input means in the present apparatus is limited to such a hydraulic type. Instead, any other type, such as an electric steering actuator, may be used as long as a warning vibration or the like can be given to the steering operation means such as the steering wheel 40.

Further, in this embodiment, the high-frequency small vibration for warning is given by raising the dither level. However, if the steering system does not perform the dither processing from the beginning, it may correspond to a high-level dither. What is necessary is just to give a new high frequency minute vibration for warning. Further, in this embodiment, the dither level, that is, the magnitude of the high-frequency minute vibration for warning is set in accordance with the warning level. A configuration may be adopted in which a high-frequency warning minute vibration is applied.

[0053]

As described above, according to the first aspect of the present invention, a warning judging means for judging whether or not a warning is necessary for a driver is provided. Steering operation means by which the driver operates the vehicle to steer the vehicle; high-frequency minute vibration input means for inputting a high-frequency minute vibration for warning within a range that does not affect the vehicle behavior to the steering operation means; If the driver needs some kind of warning based on the information from the driver, the vibration input control means for activating the high-frequency micro vibration input means may adversely affect the behavior of the vehicle. There is an advantage that only a necessary vehicle driver can be notified of the warning as vibration while preventing unpleasant occupants from feeling uncomfortable. Ma
A warning device for a steering system vibration type vehicle according to claim 1 of the present invention.
According to the arrangement, between the steering operation means and the steered wheels of the vehicle.
The steering actuator is provided with a hydraulic
It is composed of a hydraulic actuator with a cylinder
Input to the steering operation means of the steering actuator
Actuated in response to an artificial steering operation to perform the artificial steering operation.
The power steering mode to assist and the steering
The steering wheel regardless of the artificial steering operation.
An automatic steering mode for performing automatic steering.
With a power steering mechanism that can be switched to
The high-frequency minute vibration input means includes the steering actuator.
Operation from the steering actuator to the steering operation means.
Reduced cost increase by being composed of a rudder transmission system
However, the above-mentioned advantage, that is, adversely affecting the behavior of the vehicle
Or discomfort to occupants other than the driver.
Warnings only to the driver of the vehicle needed
Detecting warnings as vibrations of intensity corresponding to the level
The advantage that can be obtained can be obtained. Claim 1
According to Ming's steering system vibration-type vehicle warning device,
When the power steering mechanism is in the automatic steering mode, the hydraulic pressure
Adjust the hydraulic pressure of the cylinder to operate the hydraulic actuator.
A control valve for controlling the operation is provided.
The high-frequency vibration
Dynamic input means for increasing the signal level of the dither processing
To give the warning high frequency vibration to the steering operation means .
Although the cost increase is greatly reduced by
The above-mentioned advantage, that is, the adverse effect on vehicle behavior
It does not cause discomfort to the occupants other than the driver
Warning level only to the driver of the vehicle required.
Warnings as vibrations of a strength corresponding to the
The benefits can be obtained.

According to the second aspect of the present invention, in the configuration of the first aspect, the warning determining means determines whether or not the driver needs to issue some kind of warning. The vibration input control means outputs judgment information according to the warning level, and the vibration input control means controls the high-frequency minute vibration input means so that a warning high-frequency minute vibration at a level corresponding to the warning level is input to the steering operation means. The control level is set so that the vehicle will not adversely affect the behavior of the vehicle or discomfort to occupants other than the driver. It was as a strength of the vibration can be advantageously be sensed warning.

According to a second aspect of the present invention, in the configuration of the first aspect, the steering system is provided between the steering operation means and the steered wheels of the vehicle. and a steering transmission system, the automatic steering is equipped rows of cormorants automatic steering steering actuator, from the high-frequency micro-vibration input means, and the steering actuator, a steering transmission system which leads to the steering operating means from the steering actuator By configuring, only the necessary vehicle driver while suppressing the increase in cost, while not adversely affecting the behavior of the vehicle or causing discomfort to occupants other than the driver Thus, it is possible to obtain an advantage that the warning can be detected as vibration having a strength corresponding to the warning level.

According to a third aspect of the present invention, in the configuration of the second aspect , the steering actuator is constituted by a hydraulic actuator having a hydraulic cylinder. A control valve for adjusting the hydraulic pressure of the hydraulic cylinder to control the operation of the hydraulic actuator is provided, and the control valve is configured to be subjected to dither processing. By increasing the signal level of the processing to give the high frequency vibration for warning to the steering operation means, the above-mentioned advantage, that is, adversely affecting the behavior of the vehicle, is greatly suppressed while cost increase is largely suppressed. while in order not to discomfort the occupant other than or drivers, only the required vehicle drivers, as the intensity of the vibration corresponding to the warning level warning It can be obtained the advantage of being able to sense.

[0057]

[0058]

[0059]

[0060]

Further , when the vibration input control means determines that the driver needs some warning during the power steering mode of the power steering mechanism, the vibration input control means switches the power steering mechanism from the power steering mode for a predetermined time. After switching to the automatic steering mote,
When the high-frequency minute vibration input means is operated and the power steering mechanism is returned to the power steering mode again after a lapse of a predetermined time, if the power steering mode is set to be maintained for a predetermined time , the steering mode changes. The driver of the vehicle required while taking care not to give an uncomfortable feeling to the vehicle at low cost and without the above-mentioned advantages, that is, without adversely affecting the behavior of the vehicle or causing discomfort to occupants other than the driver. Only in this case, it is possible to obtain an advantage that the warning can be perceived as vibration or sound having a strength corresponding to the warning level.

[Brief description of the drawings]

FIG. 1 is a diagram showing a configuration of a steering system of a vehicle provided with a steering system vibration type vehicle warning device as one embodiment of the present invention.

FIG. 2 is a diagram showing characteristics of a high-frequency minute vibration used in a steering system vibration type vehicle warning device as one embodiment of the present invention.

3A and 3B are diagrams showing the influence of a high-frequency minute vibration on a steering angle used in a warning system for a steering system vibration type vehicle as one embodiment of the present invention, wherein FIG. ) Indicates the steering angle.

FIG. 4 is a flowchart showing a control operation of the warning device for a steering system vibration type vehicle as one embodiment of the present invention.

[Explanation of symbols]

Reference Signs List 20 pump 21 split valve 26 electronic control unit (ECU) 30 hydraulic power steering mechanism 31 hydraulic automatic steering mechanism 32 steering force transmission member (rack of rack and pinion mechanism) 33 hydraulic cylinder 34 power steering valve 35 hydraulic source switching valve 35A Valve body 35B Return spring 35C Solenoid 36 Automatic steering angle control valve 36A Valve body 36B Return spring 36C Valve drive mechanism as an electrically controlled valve drive means 36D Pressure control valve 36a Return spring 36b Solenoid 37 Mode switching valve 37A Valve 37B Return spring 37C Solenoid 38 Automatic steering force control valve 38A Return spring 38B Solenoid 39 Displacement sensor 40 Steering wheel as steering operation means 50 Warning judgment means 51 WARNING means 51A RF micro vibration input means 51B vibration input control means

──────────────────────────────────────────────────の Continued on the front page (51) Int.Cl. ⁷ Identification code FI B62D 117: 00 (72) Inventor Takahiro Maemura 3-33-8 Shiba, Minato-ku, Tokyo Mitsubishi Motors Corporation (72 ) Inventor Tadao Tanaka 5-33-8 Shiba, Minato-ku, Tokyo Inside Mitsubishi Motors Corporation (56) References JP-A-3-109143 (JP, A) JP-A-5-116554 (JP, A) 63-125625 (JP, U) (58) Fields investigated (Int. Cl. ⁷ , DB name) B60R 16/02 B62D 6/00 G08B 23/00 G08B 27/00

Claims (3)

(57) [Claims] 1. A warning determining means for determining whether or not a warning is required for a driver, a steering operation means operated by the driver to steer a vehicle, and the steering operation means does not affect the vehicle behavior. A high-frequency minute vibration input means for inputting a high-frequency minute vibration for warning within a range; the steering actuator;
A vibration transmission control means for operating the high-frequency micro-vibration input means when the driver needs any warning based on information from the warning determination means. Provided between the steering operation means and the steered wheels of the vehicle.
Hydraulic actuator with hydraulic cylinder in steering transmission system
To the steering operation means
Operate according to the input artificial steering operation
Power steering mode assists in basic steering operations
And the steering actuator is related to the artificial steering operation.
Automatic steering mode, in which automatic steering is performed by operating
Power stearin to switch to any mode
The power steering mechanism in the automatic steering mode.
By adjusting the hydraulic pressure of the pressure cylinder,
A control valve for controlling the operation is provided.
The high-frequency micro-vibration input means is configured to perform dither processing, and the signal level of the dither processing is
By increasing the height of the
The vibration input control means is configured to apply vibration.
Some warning to the driver in power steering mode
If it is determined that notification is necessary, the power
Move the steering mechanism from the power steering mode to the
After switching to the automatic steering mode,
The power steering is operated, and after a predetermined time elapses, the power steering
The steering mechanism to the power steering mode again.
A warning device for a steering-system vibration-type vehicle, wherein the warning device is set so that: 2. The method according to claim 1, wherein the warning determination means outputs determination information according to the warning level when the driver needs some warning, and the vibration input control means outputs a warning at a level corresponding to the warning level. use high frequency minute vibration is provided between the steering wheel of the high-frequency micro-vibration input means is configured to perform a control of Rutotomoni, the steering operating means and the vehicle to be input to the steering operating means
A steering actuation for automatic steering that performs automatic steering in the steering transmission system
A high frequency micro-vibration input means, the steering actuator
Operation from the steering actuator to the steering operation means.
The warning device for a steering system vibration type vehicle according to claim 1, characterized by comprising a steering transmission system . 3. The steering actuator includes a hydraulic cylinder.
The hydraulic actuator is configured to adjust the hydraulic pressure of the hydraulic cylinder to
Provided the control valve for controlling the operation of the motor, it is configured to dither processing is applied to the control valve, the high-frequency micro-vibration input means, the signal of the dithering level
By increasing the height of the
Characterized in that it is configured to provide vibration
The warning device for a steering system vibration type vehicle according to claim 2 .