JP3374708B2 - Steering control device for front two-axle vehicle - Google Patents
Steering control device for front two-axle vehicleInfo
- Publication number
- JP3374708B2 JP3374708B2 JP18473197A JP18473197A JP3374708B2 JP 3374708 B2 JP3374708 B2 JP 3374708B2 JP 18473197 A JP18473197 A JP 18473197A JP 18473197 A JP18473197 A JP 18473197A JP 3374708 B2 JP3374708 B2 JP 3374708B2
- Authority
- JP
- Japan
- Prior art keywords
- steering
- vehicle
- axle
- detecting
- yaw rate
- 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.)
- Expired - Fee Related
Links
Landscapes
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、前二軸車両におけ
る操舵制御装置に関し、車両の操舵特性の改善を企図し
たものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a steering control device for a front two-axle vehicle and is intended to improve the steering characteristics of the vehicle.
【０００２】[0002]
【従来の技術】例えば、トラック等の大型車両は、車種
によって車軸の軸数が異なり、前前軸と前後軸を備えた
前二軸車両がある。前二軸車両は、通常前前軸と前後軸
とがリンクやコネクチングロッド等によって機械的につ
ながれ、運転者のステアリングホイールの操作により前
前軸と前後軸とが同一方向に略同一操舵角で操舵される
ようになっている。2. Description of the Related Art For example, a large vehicle such as a truck has a front two-axle vehicle having a front front shaft and a front-rear shaft, in which the number of axles varies depending on the vehicle type. In a front two-axle vehicle, the front front axle and the front-rear axle are usually mechanically linked by a link or connecting rod, etc., and the front-front axle and the front-rear axle are operated in the same direction by the driver's steering wheel operation at substantially the same steering angle. It is designed to be steered.
【０００３】しかし、前前軸と前後軸とが機械的につな
がれた操舵装置では、ロッドの数が多いため、リンクの
フリクションや干渉等によって操舵感覚が良いとはいえ
ないものであった。また、車輪のいずれからもキックバ
ック力を受けるため、即ち、路面からの入力が全ての車
輪を介してステアリングホイールに伝わるため、ステア
リングホイールを取られやすいものであった。また、据
え切り時の車輪の復元力が大きいので、パワーステアリ
ング装置のポンプとして大容量のものが必要となる。However, in a steering system in which the front front shaft and the front and rear shafts are mechanically connected to each other, since the number of rods is large, the steering feeling cannot be said to be good due to the friction and interference of the links. Further, since the kickback force is received from any of the wheels, that is, the input from the road surface is transmitted to the steering wheel via all the wheels, it is easy for the steering wheel to be taken. Further, since the restoring force of the wheels at the time of stationary steering is large, a pump having a large capacity is required for the power steering device.
【０００４】そこで、前前軸と前後軸を備えた前二軸車
両では、例えば特開平6-255507号公報に示されているよ
うに、前前軸と前後軸との機械的な連結を廃止し、前前
軸に設けたパワーステアリング装置の作動に連動して前
後軸に設けたパワーシリンダの作動を制御するようにし
た操舵制御装置が提案されている。前前軸と前後軸との
機械的な連結を廃止した操舵制御装置を用いることによ
り、操舵感覚の悪化が生じたり、前後軸の車輪からはキ
ックバック力を受けることがない。また、ステアリング
ホイールに伝わる車輪の復元力は前前軸の車輪だけであ
るので、パワーステアリング装置のポンプとして、車輪
の復元力を見越した大容量のポンプを必要としない。Therefore, in a front two-axle vehicle having a front front shaft and a front-rear shaft, the mechanical connection between the front front shaft and the front-rear shaft is abolished as disclosed in, for example, Japanese Patent Laid-Open No. 6-255507. However, there has been proposed a steering control device that controls the operation of a power cylinder provided on the front and rear shafts in conjunction with the operation of a power steering device provided on the front front shaft. By using the steering control device in which the mechanical connection between the front front shaft and the front and rear shafts is abolished, the steering feeling is not deteriorated and the kickback force is not received from the wheels of the front and rear shafts. Further, since the restoring force of the wheels transmitted to the steering wheel is only the front and front axle wheels, a large capacity pump that anticipates the restoring force of the wheels is not required as a pump of the power steering device.
【０００５】[0005]
【発明が解決しようとする課題】従来の操舵制御装置
は、前前軸と前後軸との機械的な連結を廃止して機械的
に生じる不具合を解消するものとなっている。しかし、
従来の操舵制御装置では、パワーステアリング装置の作
動に連動して前後軸に設けたパワーシリンダの作動を制
御するだけであるので、前前軸の操舵作動に対する前後
軸の操舵状態は一義的にしか定まらず、車両の走行状態
によって操舵量を制御することができないものであっ
た。In the conventional steering control device, the mechanical connection between the front front shaft and the front and rear shafts is abolished to eliminate mechanical problems. But,
Since the conventional steering control device only controls the operation of the power cylinders provided on the front and rear shafts in conjunction with the operation of the power steering device, the steering state of the front and rear shafts relative to the steering operation of the front and front shafts is unique. It is not fixed, and the steering amount cannot be controlled depending on the running state of the vehicle.
【０００６】本発明は上記状況に鑑みてなされたもの
で、前前軸と前後軸との機械的な連結を廃止した操舵機
構において、車両の走行状態に応じて操舵量を制御する
ことができる操舵制御装置を提供することを目的とす
る。The present invention has been made in view of the above circumstances, and in a steering mechanism in which the mechanical connection between the front front shaft and the front and rear shafts is abolished, the steering amount can be controlled according to the running state of the vehicle. An object is to provide a steering control device.
【０００７】[0007]
【課題を解決するための手段】上記目的を達成するため
請求項１の発明では、ステアリングホイールの操舵操作
に連動して前前軸を前前軸操舵機構で操舵し、前前軸操
舵機構とは独立してアクチュエータを駆動させて前後操
舵機構により前後軸を操舵し、ステアリングホイールの
操舵角を操舵角検出手段で検出し、車両の走行状態を走
行状態検出手段で検出し、制御装置により、操舵角検出
手段の検出出力に応じて前前軸と同方向に前後軸を操舵
させると共に走行状態検出手段で検出される走行状態を
加味した操舵量でアクチュエータを作動制御する。In order to achieve the above object, according to the invention of claim 1, the front front shaft is steered by the front front shaft steering mechanism in association with the steering operation of the steering wheel. Independently drives the actuator to steer the front-rear axis by the front-rear steering mechanism, detects the steering angle of the steering wheel by the steering angle detection means, detects the traveling state of the vehicle by the traveling state detection means, and The front and rear shafts are steered in the same direction as the front front shaft in accordance with the detection output of the steering angle detection means, and the actuator is operated and controlled by the steering amount in consideration of the traveling state detected by the traveling state detection means.
【０００８】走行状態に応じてアクチュエータを作動制
御するため、前後軸の操舵量を車両の走行状態に応じて
制御することができ、車両の操舵特性を好適に改善でき
る。特に、前後軸をアクチュエータにより操舵し、前前
軸はステアリングホイールの操舵操作に連動して作動す
るものとしたため、フェールセーフ性を確保しながら操
舵特性を改善することができ、元々操舵機能を有する前
後軸を制御するため、機構を複雑化することがない。Since the actuator is actuated and controlled according to the traveling state, the steering amount of the front and rear shafts can be controlled according to the traveling state of the vehicle, and the steering characteristics of the vehicle can be suitably improved. In particular, since the front and rear axles are steered by the actuator and the front front axle operates in conjunction with the steering operation of the steering wheel, it is possible to improve steering characteristics while ensuring fail-safety, and to have a steering function originally. Since the front-rear axis is controlled, the mechanism is not complicated.
【０００９】また、請求項２の発明では、車両の走行車
線中心からの車幅方向のずれに対応した横偏差を検出す
る横偏差検出手段により車両の走行状態を検出し、横偏
差が所定値以上の場合に横偏差を減少する方向に前後軸
の操舵量を補正してアクチュエータを作動制御するよう
にしたものである。従って、横偏差を減少させることが
でき、車両の直進性が向上する。According to the second aspect of the present invention, the running state of the vehicle is detected by the lateral deviation detecting means for detecting the lateral deviation corresponding to the deviation in the vehicle width direction from the center of the traveling lane of the vehicle, and the lateral deviation is a predetermined value. In the above case, the actuator operation is controlled by correcting the steering amount of the front and rear axes in the direction of reducing the lateral deviation. Therefore, the lateral deviation can be reduced, and the straightness of the vehicle is improved.
【００１０】また、請求項３の発明では、車両に発生す
るヨーレイトを検出するヨーレイト検出手段により車両
の走行状態を検出し、ヨーレイトが所定値以上の場合に
ヨーレイトを減少する方向に前後軸の操舵量を補正して
アクチュエータを作動制御するようにしたものである。
従って、過大なヨーレイトの発生を防止することがで
き、車両の旋回挙動を安定化させることができる。Further, in the invention of claim 3, the yaw rate detecting means for detecting the yaw rate generated in the vehicle detects the running state of the vehicle, and when the yaw rate is equal to or more than a predetermined value, steering of the front-rear axis in the direction of decreasing the yaw rate. The amount is corrected to control the operation of the actuator.
Therefore, it is possible to prevent the occurrence of an excessive yaw rate and stabilize the turning behavior of the vehicle.
【００１１】更に、請求項４の発明では、車速が所定値
以上の場合にのみ前後軸の操舵量の補正を実行するよう
にしたものである。従って、低速走行時の旋回性を犠牲
にすることなく、高速走行時の車両の操舵特性を改善で
きる。Further, in the invention of claim 4, the steering amount of the front and rear shafts is corrected only when the vehicle speed is equal to or higher than a predetermined value. Therefore, it is possible to improve the steering characteristics of the vehicle during high speed traveling without sacrificing the turning performance during low speed traveling.
【００１２】[0012]
【発明の実施の形態】図１には本発明の一実施形態例に
係る操舵制御装置を備えた前二軸車両の要部構成、図２
には操舵制御装置の制御ブロック、図３にはパワーシリ
ンダの油圧回路構成、図４には操舵制御装置の制御フロ
ーチャートを示してある。1 is a block diagram of a front two-axle vehicle equipped with a steering control device according to an embodiment of the present invention.
3 shows a control block of the steering control device, FIG. 3 shows a hydraulic circuit configuration of the power cylinder, and FIG. 4 shows a control flowchart of the steering control device.
【００１３】図１に示すように、車両のステアリングホ
イール１にはパワーステアリング装置２を介して前前軸
車輪３を操舵する前前軸操舵機構４が連結され、ステア
リングホイール１の操舵操作に連動して前前軸車輪３が
操舵される。前後軸側には前前軸操舵機構４とは独立し
て前後軸車輪５を操舵する前後軸操舵機構６が備えら
れ、前後軸操舵機構６には前後軸車輪５を操舵駆動する
アクチュエータとしてのパワーシリンダ７が設けられて
いる。パワーシリンダ７はコントロールバルブ８の制御
により作動され、コントロールバルブ８は制御装置９の
指令に応じて制御される。As shown in FIG. 1, a front front axle steering mechanism 4 for steering front front axle wheels 3 is connected to a steering wheel 1 of a vehicle via a power steering device 2, and is interlocked with a steering operation of the steering wheel 1. Then, the front front wheel 3 is steered. A front-rear axis steering mechanism 6 for steering front-rear axle wheels 5 independently of the front-rear axle steering mechanism 4 is provided on the front-rear axle side. The front-rear axle steering mechanism 6 serves as an actuator for steering and driving the front-rear axle wheels 5. A power cylinder 7 is provided. The power cylinder 7 is operated by the control of the control valve 8, and the control valve 8 is controlled according to the command of the control device 9.
【００１４】図２に示すように、制御装置９には、車速
を検出する車速センサ１１、車両のヨーレイトを検出す
るヨーレイト検出手段としてのヨー角速度センサ１２、
ステアリングホイール１の操舵角を検出する操舵角セン
サ１３及び前後軸車輪５（前後軸）の舵角を検出する前
後軸舵角センサ１４の情報が入力されるようになってい
る。また、制御装置９にはカメラ１５の撮影情報が入力
され、カメラ１５の撮影情報に基づいて車両の走行車線
中心からの車幅方向のずれに対応した横偏差が検出され
る（横偏差検出手段）。また、カメラ１５の撮影情報に
基づいて障害物が検出されるようになっている。各検出
情報はコントローラ１６で処理され、コントロールバル
ブ８に制御指令が出力される。As shown in FIG. 2, the control device 9 includes a vehicle speed sensor 11 for detecting a vehicle speed, a yaw angular velocity sensor 12 as a yaw rate detecting means for detecting a yaw rate of the vehicle,
Information of the steering angle sensor 13 that detects the steering angle of the steering wheel 1 and the information of the front and rear axis steering angle sensor 14 that detects the steering angle of the front and rear axle wheels 5 (front and rear axles) is input. Further, the photographing information of the camera 15 is input to the control device 9, and the lateral deviation corresponding to the deviation in the vehicle width direction from the center of the traveling lane of the vehicle is detected based on the photographing information of the camera 15 (lateral deviation detecting means). ). Further, an obstacle is detected based on the photographing information of the camera 15. Each detection information is processed by the controller 16, and a control command is output to the control valve 8.
【００１５】図３に示すように、パワーシリンダ７は、
オイルポンプ２１から圧送される圧油がコントロールバ
ルブ８で制御されて供給され、前後軸車輪５を左右に操
舵するように作動される。即ち、コントロールバルブ８
は４つの可変絞り弁２２，２３，２４，２５で構成さ
れ、可変絞り弁２２，２４側が一方のシリンダ室7aに連
通し、可変絞り弁２３，２５側が他方のシリンダ室7bに
連通し、ホイートストンブリッジ回路となっている。As shown in FIG. 3, the power cylinder 7 is
The pressure oil pressure-fed from the oil pump 21 is controlled and supplied by the control valve 8 and is operated so as to steer the front and rear axle wheels 5 left and right. That is, the control valve 8
Is composed of four variable throttle valves 22, 23, 24, 25. The variable throttle valves 22, 24 side communicates with one cylinder chamber 7a, and the variable throttle valves 23, 25 side communicates with the other cylinder chamber 7b. It is a bridge circuit.
【００１６】可変絞り弁２２，２５を同時に絞ることに
より、オイルポンプ２１から圧送される圧油が可変絞り
弁２３から他方のシリンダ室7bに送られると共に一方の
シリンダ室7a内の油が可変絞り弁２４を通ってタンク２
６に戻され、前後軸車輪５が例えば右操舵される状態に
パワーシリンダ７が作動する。可変絞り弁２３，２４を
同時に絞ることにより、オイルポンプ２１から圧送され
る圧油が可変絞り弁２２から一方のシリンダ室7aに送ら
れると共に他方のシリンダ室7b内の油が可変絞り弁２５
を通ってタンク２６に戻され、前後軸車輪５が例えば左
操舵される状態にパワーシリンダ７が作動する。By throttling the variable throttle valves 22 and 25 at the same time, the pressure oil pumped from the oil pump 21 is sent from the variable throttle valve 23 to the other cylinder chamber 7b and the oil in one cylinder chamber 7a is variable throttled. Tank 2 through valve 24
6, the power cylinder 7 operates so that the front and rear axle wheels 5 are steered to the right, for example. By simultaneously throttling the variable throttle valves 23, 24, the pressure oil sent from the oil pump 21 is sent from the variable throttle valve 22 to one cylinder chamber 7a and the oil in the other cylinder chamber 7b is sent to the variable throttle valve 25.
Then, the power cylinder 7 is operated so that the front and rear axle wheels 5 are steered to the left, for example.
【００１７】上述した操舵制御装置では、ステアリング
ホイール１の操舵操作に連動して前前軸操舵機構４を介
して前前軸車輪３が操舵される。パワーシリンダ７は、
操舵角センサ１３の検出情報に応じて前前軸車輪３と同
方向に前後軸車輪５を操舵させるように作動される。ま
た、パワーシリンダ７は、前後軸車輪５が走行状態検出
手段としてのヨー角速度センサ１２及び横偏差検出手段
で検出される走行状態を加味した操舵量となるように作
動される。つまり、制御装置９では、前後軸車輪５を前
前軸車輪３と同方向に操舵させると共に車両の走行状態
に応じてヨーレイト及び横偏差を減少させる方向に補正
して操舵させる。また、パワーシリンダ７による操舵の
補正は、車速センサ１１で検出される車速が所定車速以
上の高速走行、例えば60Km/h以上の場合にのみ実行され
る。In the above steering control device, the front front wheel 3 is steered via the front front steering mechanism 4 in conjunction with the steering operation of the steering wheel 1. The power cylinder 7 is
According to the information detected by the steering angle sensor 13, the front and rear axle wheels 5 are operated in the same direction as the front front axle wheels 3. Further, the power cylinder 7 is operated such that the front and rear axle wheels 5 have a steering amount in consideration of the traveling state detected by the yaw angular velocity sensor 12 as the traveling state detecting means and the lateral deviation detecting means. That is, the control device 9 steers the front and rear axle wheels 5 in the same direction as the front front axle wheels 3 and corrects and steers the yaw rate and the lateral deviation in accordance with the running state of the vehicle. Further, the steering correction by the power cylinder 7 is executed only when the vehicle speed detected by the vehicle speed sensor 11 is traveling at a high speed equal to or higher than a predetermined vehicle speed, for example, 60 km / h or more.
【００１８】そして、目標操舵量に対して前後軸舵角セ
ンサ１４の出力をフィードバックしながらコントロール
バルブ８の各可変絞り弁２２，２３，２４，２５を制御
し、パワーシリンダ７を作動させて前後軸車輪５を操舵
する。尚、コントロールバルブ８としては、図５に示し
たように、電磁弁によりスプールが作動する電磁切替弁
３１を用いることも可能である。Then, the variable throttle valves 22, 23, 24, 25 of the control valve 8 are controlled while feeding back the output of the front-rear axis steering angle sensor 14 to the target steering amount, and the power cylinder 7 is operated to move the front-rear direction. Steering the axle wheels 5. As the control valve 8, as shown in FIG. 5, it is possible to use an electromagnetic switching valve 31 in which a spool is operated by an electromagnetic valve.
【００１９】図４に基づいて上記構成の操舵制御装置に
よる操舵状況を具体的に説明する。The steering situation by the steering control device having the above construction will be specifically described with reference to FIG.
【００２０】ステップＳ１で各種情報、即ち、車速セン
サ１１で検出される車速、ヨー角速度センサ１２で検出
される車両のヨーレイトγ、操舵角センサ１３で検出さ
れるステアリングホイール１の操舵角、前後軸舵角セン
サ１４で検出される前後軸車輪５の舵角及びカメラ１５
の撮影情報に基づいて検出される横偏差ｅが読込まれ
る。In step S1, various information, that is, the vehicle speed detected by the vehicle speed sensor 11, the yaw rate γ of the vehicle detected by the yaw angular velocity sensor 12, the steering angle of the steering wheel 1 detected by the steering angle sensor 13, the longitudinal axis The steering angle of the front and rear axle wheels 5 detected by the steering angle sensor 14 and the camera 15
The lateral deviation e detected based on the shooting information of is read.
【００２１】ステップＳ２で車速が所定車速以上か否か
が判断され、所定車速に達していないと判断された場
合、ステップＳ３に移行して前後軸車輪５の舵角δfrを
前前軸車輪３の舵角δffと等しく設定する（δfr＝δf
f）。前後軸車輪５の舵角δfrを設定した後、設定した
舵角δfrに応じた作動指令をコントロールバルブ８に出
力する（ステップＳ４）。これにより、前後軸車輪５は
パワーシリンダ７の作動によって前前軸車輪３と等しい
舵角で操舵される。前後軸車輪５の舵角は前後軸舵角セ
ンサ１４で検出され、前前軸車輪３と等しい舵角が維持
される状態にフィードバックされる。In step S2, it is determined whether or not the vehicle speed is equal to or higher than the predetermined vehicle speed. If it is determined that the vehicle speed has not reached the predetermined vehicle speed, the process proceeds to step S3 and the steering angle δfr of the front and rear axle wheels 5 is set to the front front axle wheel 3. The steering angle is set to be equal to δff (δfr = δf
f). After setting the steering angle δfr of the front and rear axle wheels 5, an operation command according to the set steering angle δfr is output to the control valve 8 (step S4). As a result, the front and rear axle wheels 5 are steered at the same steering angle as the front front axle wheels 3 by the operation of the power cylinder 7. The steering angle of the front-rear axle wheels 5 is detected by the front-rear axle steering angle sensor 14 and is fed back to the state where the same steering angle as that of the front front axle wheels 3 is maintained.
【００２２】ステップＳ２で車速が所定車速以上である
と判断された場合、ステップＳ５でカメラ１５の撮影情
報に基づいて検出される横偏差ｅが所定値以上か否かが
判断される。ステップＳ５で横偏差ｅが所定値に達して
いないと判断された場合、車両は走行車線中心からずれ
ていないので、ステップＳ３に移行して前後軸車輪５を
前前軸車輪３と等しい舵角で操舵する。尚、横偏差ｅの
判断を行う場合、フィルタ処理が施され必要な情報だけ
が判断されるようになっている。When it is determined in step S2 that the vehicle speed is equal to or higher than the predetermined vehicle speed, it is determined in step S5 whether the lateral deviation e detected based on the photographing information of the camera 15 is equal to or higher than the predetermined value. If it is determined in step S5 that the lateral deviation e has not reached the predetermined value, the vehicle has not deviated from the center of the traveling lane, and therefore the process proceeds to step S3, in which the front-rear wheel 5 has the same steering angle as the front-front wheel 3. Steer with. When the lateral deviation e is judged, only the necessary information is judged by performing a filtering process.
【００２３】ステップＳ５で横偏差ｅが所定値以上であ
ると判断された場合、ステップＳ６でヨー角速度センサ
１２で検出される車両のヨーレイトγが所定値以上か否
かが判断される。ステップＳ５でヨーレイトγが所定値
に達していないと判断された場合、車両のヨーレイトは
小さいので、ステップＳ３に移行して前後軸車輪５を前
前軸車輪３と等しい舵角で操舵する。尚、ヨーレイトγ
の判断を行う場合、フィルタ処理が施され必要な情報だ
けが判断されるようになっている。When it is determined in step S5 that the lateral deviation e is equal to or greater than the predetermined value, it is determined in step S6 whether the yaw rate γ of the vehicle detected by the yaw angular velocity sensor 12 is equal to or greater than the predetermined value. When it is determined in step S5 that the yaw rate γ has not reached the predetermined value, the yaw rate of the vehicle is small, so the process proceeds to step S3 and the front and rear axle wheels 5 are steered at the same steering angle as the front front axle wheels 3. The yaw rate γ
When making the above judgment, only the necessary information is judged by performing a filtering process.
【００２４】ステップＳ６でヨーレイトγが所定値以上
であると判断された場合、ステップＳ７に移行してヨー
レイトγ及び横偏差ｅを減少させる方向に補正した前後
軸車輪５の舵角δfrを設定する。即ち、δfr＝K1δff−
K2γ−K3ｅと設定し、ヨーレイトγ及び横偏差ｅが減少
する状態に前後軸車輪５の舵角δfrを設定する。ここ
で、K1,K2,K3はゲインである。前後軸車輪５の舵角δfr
を設定した後、設定した舵角δfrに応じた作動指令をコ
ントロールバルブ８に出力する（ステップＳ７）。これ
により、前後軸車輪５はパワーシリンダ７の作動によっ
て前前軸車輪３とは異なる舵角でヨーレイトγ及び横偏
差ｅが減少する状態に操舵される。前後軸車輪５の舵角
は前後軸舵角センサ１４で検出され、所定の舵角が維持
される状態にフィードバックされる。When it is determined in step S6 that the yaw rate γ is equal to or greater than the predetermined value, the process proceeds to step S7, and the steering angle δfr of the front and rear axle wheels 5 is set so as to reduce the yaw rate γ and the lateral deviation e. .. That is, δfr = K 1 δff−
Set to K 2 γ-K 3 e, sets the steering angle δfr around shaft wheel 5 in a state where the yaw rate gamma and lateral deviation e is reduced. Here, K 1 , K 2 and K 3 are gains. Rudder angle δfr of front and rear axle wheels 5
After setting, the operation command corresponding to the set steering angle δfr is output to the control valve 8 (step S7). As a result, the front and rear axle wheels 5 are steered by the operation of the power cylinder 7 to a state in which the yaw rate γ and the lateral deviation e are reduced at a steering angle different from that of the front axle wheels 3. The steering angle of the front and rear axle wheels 5 is detected by the front and rear axle steering angle sensor 14 and is fed back to the state where a predetermined steering angle is maintained.
【００２５】従って、車速が所定車速以上でヨーレイト
γ及び横偏差ｅが所定値以上の場合に、前後軸車輪５は
前前軸車輪３とは異なる舵角でヨーレイトγ及び横偏差
ｅが減少する状態に操舵されるので、車両の走行状態に
応じて前後軸車輪５を操舵することができ、車両の操舵
特性を好適に改善することができる。つまり、直進性及
び旋回挙動に対する安定性が向上し、修正操舵が少なく
なって運転者の疲労が軽減される。また、所定車速以上
の場合に前後軸車輪５を前前軸車輪３とは異なる舵角で
操舵制御するので、低速走行時の旋回性を犠牲にするこ
となく高速走行時における車両の操舵特性を改善するこ
とができる。Therefore, when the vehicle speed is equal to or higher than the predetermined vehicle speed and the yaw rate γ and the lateral deviation e are equal to or greater than the predetermined values, the front and rear axle wheels 5 decrease the yaw rate γ and the lateral deviation e at a steering angle different from that of the front front axle wheel 3. Since the vehicle is steered to the state, the front and rear axle wheels 5 can be steered in accordance with the running state of the vehicle, and the steering characteristics of the vehicle can be favorably improved. That is, the straightness and the stability with respect to the turning behavior are improved, the correction steering is reduced, and the driver's fatigue is reduced. Further, since the front and rear axle wheels 5 are steered at a steering angle different from that of the front front axle wheels 3 when the vehicle speed is equal to or higher than a predetermined vehicle speed, the steering characteristics of the vehicle during high speed traveling can be maintained without sacrificing the turning performance during low speed traveling. Can be improved.
【００２６】特に、前前軸車輪３はステアリングホイー
ル１の操舵操作に連動して作動し、前後軸車輪５はパワ
ーシリンダ７の作動によって操舵するので、フェールセ
ーフ性を確保した状態で操舵特性を改善することができ
ると共に、元々操舵機能を有する前後軸車輪５を制御す
るので、機構が大幅に複雑化することがない。In particular, the front front wheel 3 is operated in conjunction with the steering operation of the steering wheel 1, and the front and rear wheel 5 is steered by the operation of the power cylinder 7. Therefore, the steering characteristic is ensured while fail-safe is ensured. Since the front and rear axle wheels 5 that can be improved and originally have a steering function are controlled, the mechanism is not significantly complicated.
【００２７】上述した実施形態例では、車速が所定車速
以上でヨーレイトγ及び横偏差ｅが所定値以上の場合に
前前軸車輪３とは異なる舵角で前後軸車輪５を操舵する
ようにしたが、車速が所定車速以上でヨーレイトγもし
くは横偏差ｅのどちらか一方が所定値以上の場合に前前
軸車輪３とは異なる舵角で前後軸車輪５を操舵するよう
にすることも可能である。In the above-described embodiment, when the vehicle speed is equal to or higher than the predetermined vehicle speed and the yaw rate γ and the lateral deviation e are equal to or higher than the predetermined values, the front and rear axle wheels 5 are steered at a steering angle different from that of the front front axle wheel 3. However, it is possible to steer the front and rear axle wheels 5 at a steering angle different from that of the front front axle wheels 3 when the vehicle speed is equal to or higher than the predetermined vehicle speed and one of the yaw rate γ and the lateral deviation e is equal to or greater than the predetermined value. is there.
【００２８】[0028]
【発明の効果】本発明の前二軸車両の操舵制御装置は、
車両の走行状態を加味した操舵量でアクチュエータを作
動して前後軸を操舵するようにしているので、前後軸の
操舵量を車両の走行状態に応じて制御することができ、
車両の操舵特性を好適に改善できる。特に、前後軸をア
クチュエータにより操舵し、前前軸はステアリングホイ
ールの操舵操作に連動して作動するものとしたため、フ
ェールセーフ性を確保しながら操舵特性を改善すること
ができ、機構を複雑化することがない。The steering control device for a front two-axle vehicle according to the present invention comprises:
Since the actuator is operated to steer the front-rear axis with a steering amount considering the traveling state of the vehicle, the steering amount of the front-rear axis can be controlled according to the traveling state of the vehicle.
It is possible to preferably improve the steering characteristics of the vehicle. In particular, since the front and rear axles are steered by the actuator and the front front axle operates in conjunction with the steering operation of the steering wheel, it is possible to improve the steering characteristics while ensuring fail-safety, and complicate the mechanism. Never.
【００２９】請求項２の発明では、横偏差が所定値以上
の場合に横偏差を減少する方向に前後軸の操舵量を補正
してアクチュエータを作動制御するようにしたので、横
偏差を減少する方向に前後軸の操舵量が補正され車両の
直進性が向上する。According to the second aspect of the present invention, when the lateral deviation is equal to or greater than the predetermined value, the steering amount of the front and rear shafts is corrected so as to reduce the lateral deviation, and the actuator is actuated and controlled. Therefore, the lateral deviation is reduced. The steering amount of the front and rear axes is corrected in the direction, and the straightness of the vehicle is improved.
【００３０】また、請求項３の発明では、車両の発生す
るヨーレイトが所定値以上の場合にヨーレイトを減少す
る方向に前後軸の操舵量を補正するようにしたので、過
大なヨーレイトの発生を防止することができ、車両の旋
回挙動を安定化させることができる。According to the third aspect of the invention, when the yaw rate generated by the vehicle is equal to or greater than a predetermined value, the steering amount of the front and rear shafts is corrected in the direction of decreasing the yaw rate, so that the excessive yaw rate is prevented. Therefore, the turning behavior of the vehicle can be stabilized.
【００３１】更に、請求項４の発明では、車速が所定値
以上の場合にのみ前後軸の操舵量の補正を実行するよう
にしたので、低速走行時の旋回性を犠牲にすることな
く、高速走行時の車両の操舵特性を改善できる。Further, according to the invention of claim 4, the steering amount of the front and rear shafts is corrected only when the vehicle speed is equal to or higher than a predetermined value. The steering characteristics of the vehicle during traveling can be improved.
【図１】本発明の一実施形態例に係る操舵制御装置を備
えた前二軸車両の要部構成図。FIG. 1 is a main part configuration diagram of a front two-axle vehicle including a steering control device according to an embodiment of the present invention.
【図２】操舵制御装置の制御ブロック図。FIG. 2 is a control block diagram of a steering control device.
【図３】パワーシリンダの油圧回路構成図。FIG. 3 is a hydraulic circuit configuration diagram of a power cylinder.
【図４】操舵制御装置の制御フローチャート。FIG. 4 is a control flowchart of a steering control device.
【図５】切替電磁弁を用いた油圧回路構成図。FIG. 5 is a hydraulic circuit configuration diagram using a switching solenoid valve.
１ ステアリングホイール ３ 前前軸車輪 ４ 前前軸操舵機構 ５ 前後軸車輪 ６ 前後軸操舵機構 ７ パワーシリンダ ８ コントロールバルブ ９ 制御装置 １１ 車速センサ １２ ヨー角速度センサ １３ 操舵角センサ １４ 前後軸舵角センサ １５ カメラ １６ コントローラ 1 steering wheel 3 front wheel 4 Front front axle steering mechanism 5 front and rear axle wheels 6 Front-rear axis steering mechanism 7 power cylinder 8 control valves 9 Control device 11 Vehicle speed sensor 12 Yaw angular velocity sensor 13 Steering angle sensor 14 Front-rear axis rudder angle sensor 15 camera 16 controller
フロントページの続き (51)Int.Cl.7 識別記号 ＦＩ Ｂ６２Ｄ 137:00 Ｂ６２Ｄ 137:00 (58)調査した分野(Int.Cl.7，ＤＢ名) B62D 6/00 - 6/06 B60R 21/00 Continuation of front page (51) Int.Cl. 7 identification code FI B62D 137: 00 B62D 137: 00 (58) Fields investigated (Int.Cl. 7 , DB name) B62D 6/00-6/06 B60R 21 / 00
Claims (4)
して前前軸を操舵する前前軸操舵機構と、アクチュエー
タにより駆動され前記前前軸操舵機構とは独立して前後
軸を操舵する前後操舵機構と、前記ステアリングホイー
ルの操舵角を検出する操舵角検出手段と、車両の走行状
態を検出する走行状態検出手段と、前記操舵角検出手段
の検出出力に応じて前記前前軸と同方向に前記前後軸を
操舵させると共に前記走行状態検出手段で検出される走
行状態を加味した操舵量で前記アクチュエータを作動制
御する制御装置とを備えたことを特徴とする前二軸車両
の操舵制御装置。1. A front-front-axle steering mechanism that steers a front-front axle in conjunction with a steering operation of a steering wheel, and a front-rear steering mechanism that is driven by an actuator and steers the front-rear axle independently of the front-front-axle steering mechanism. A steering angle detecting means for detecting a steering angle of the steering wheel; a traveling state detecting means for detecting a traveling state of the vehicle; and a steering angle detecting means for detecting a traveling state of the vehicle. A steering control device for a front two-axle vehicle, comprising: a steering device that steers the front-rear shaft and that controls the operation of the actuator with a steering amount that takes into account the traveling state detected by the traveling state detection means.
段は、前記車両の走行車線中心からの車幅方向のずれに
対応した横偏差を検出する横偏差検出手段を含み、前記
制御手段には、前記横偏差が所定値以上の場合に前記横
偏差を減少する方向に前記前後軸の操舵量を補正して前
記アクチュエータを作動制御する機能が備えられている
ことを特徴とする前二軸車両の操舵制御装置。2. The traveling state detecting means according to claim 1, further comprising a lateral deviation detecting means for detecting a lateral deviation corresponding to a deviation of the vehicle from a center of a traveling lane in a vehicle width direction, and the control means includes A front two-axle vehicle having a function of correcting the steering amount of the front-rear shaft and controlling the operation of the actuator in a direction to reduce the lateral deviation when the lateral deviation is equal to or more than a predetermined value. Steering control device.
段は、前記車両に発生するヨーレイトを検出するヨーレ
イト検出手段を含み、前記制御手段には、前記ヨーレイ
トが所定値以上の場合に前記ヨーレイトを減少する方向
に前記前後軸の操舵量を補正して前記アクチュエータを
作動制御する機能が備えられていることを特徴とする前
二軸車両の操舵制御装置。3. The yaw rate detection means according to claim 1, including yaw rate detection means for detecting a yaw rate generated in the vehicle, and the control means controls the yaw rate when the yaw rate is a predetermined value or more. A steering control device for a front two-axle vehicle, comprising a function of correcting the steering amount of the front-rear shaft in a decreasing direction and controlling the operation of the actuator.
段は、車速を検出する車速検出手段を含み、前記制御手
段には、前記車速が所定値以上の場合にのみ前記前後軸
の操舵量の補正を実行する機能が備えられていることを
特徴とする前二軸車両の操舵制御装置。4. The traveling state detection means according to claim 1, further comprising a vehicle speed detection means for detecting a vehicle speed, wherein the control means controls the steering amount of the front and rear shafts only when the vehicle speed is a predetermined value or more. A steering control device for a front two-axle vehicle, which is provided with a function of executing correction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP18473197A JP3374708B2 (en) | 1997-07-10 | 1997-07-10 | Steering control device for front two-axle vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP18473197A JP3374708B2 (en) | 1997-07-10 | 1997-07-10 | Steering control device for front two-axle vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH1129062A JPH1129062A (en) | 1999-02-02 |
| JP3374708B2 true JP3374708B2 (en) | 2003-02-10 |
Family
ID=16158389
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP18473197A Expired - Fee Related JP3374708B2 (en) | 1997-07-10 | 1997-07-10 | Steering control device for front two-axle vehicle |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3374708B2 (en) |
-
1997
- 1997-07-10 JP JP18473197A patent/JP3374708B2/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| JPH1129062A (en) | 1999-02-02 |
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