JP4398300B2 - Vehicle steering device - Google Patents

Description

  The present invention relates to a vehicle steering apparatus, and in particular, a vehicle that indicates an azimuth corresponding to a target travel azimuth of a vehicle by a steering wheel rotation angle and performs steering control so that the actual travel azimuth of the vehicle matches the target travel azimuth. The present invention relates to a steering device.

  Conventionally, as an apparatus of this type, for example, in Patent Document 1 below, steering instruction means (such as a steering wheel) for instructing a traveling azimuth angle of a vehicle based on a predetermined absolute direction by a driver's operation, Advancing direction detection means for detecting a vehicle advancing angle based on the absolute direction, and a traveling azimuth angle and a traveling direction detection instructed by the steering instruction means based on output signals of the steering instruction means and the traveling direction detection means. A vehicle steering apparatus is provided that includes control means for controlling the power steering means so that the deviation from the vehicle advance angle detected by the means becomes zero.

  According to the conventional vehicle steering apparatus as described above, when the driver rotates the steering wheel and gives the steering wheel rotation angle as the direction in which the vehicle wants to travel, the steering wheel rotation angle is given as the target traveling azimuth angle of the vehicle. . When the driver sets the steering wheel rotation angle, it is only necessary to maintain the state of the steering wheel rotation angle as it is, and a return operation for returning the steering handle in the conventional vehicle to the neutral position becomes unnecessary.

  Further, in the vehicle steering apparatus as described above, generally, 360 ° of the vehicle corresponds to 360 ° of the entire circumference of the handle rotation angle, and the handle rotation position before operating the handle and the handle rotation position after operating. Thus, when the vehicle travels at a high speed, the target travel azimuth is set smaller than the rotation angle of the handle when the vehicle travels at a high speed.

However, the above-described vehicle steering apparatus has two problems. The first problem is that there is no means for confirming after the driver has operated the target traveling azimuth indicated by operating the steering wheel. In other words, the driver can usually recognize the target traveling direction based on the steering wheel rotation position before operating the steering wheel and the steering wheel rotation position after operating the steering wheel, but if the driver forgets the rotational position of the steering wheel before operation, The target traveling azimuth angle cannot be confirmed. The second problem is that when the relationship between the steering wheel rotation angle and the target travel azimuth is n: 1 and the target travel azimuth is changed according to the vehicle speed, the driver can understand the target travel azimuth. It becomes even more difficult. In this case, it is difficult to understand with the handle.
Japanese Patent Publication No. 6-86222

  An object of the present invention is a vehicle steering apparatus that determines a target travel azimuth of a vehicle according to a steering action by a driver's steering wheel and steers the steered wheels so that the actual vehicle travel azimuth becomes the target travel azimuth. Thus, an azimuth angle related to the target traveling direction according to the driver's instruction is given to the driver as information, and important information on driving the vehicle is provided.

  Another object of the present invention is to enable the control system to set the target traveling azimuth at a variable ratio with respect to the steering angle by the driver's steering action according to the vehicle speed, and to the driver accordingly. On the other hand, it is intended to provide the state of the steering control condition in the control system sensuously.

  In view of the above problems, the object of the present invention is to allow the driver to recognize the azimuth angle related to the traveling azimuth of the vehicle instructed by the driver himself, and to further improve the stability of the vehicle at high speed, An object of the present invention is to provide a vehicle steering apparatus that allows a driver to accurately check the state even if the ratio relationship between the steering wheel rotation angle and the target traveling azimuth angle changes according to the vehicle speed.

  In order to achieve the above object, a vehicle steering apparatus according to the present invention is configured as follows.

A vehicle steering apparatus according to the present invention (corresponding to claim 1) detects a target travel azimuth angle output unit that outputs a target travel azimuth angle of a vehicle according to a driver's steering operation, and detects an actual travel azimuth angle of the vehicle An actual traveling azimuth angle detection unit, and a control unit that controls the steered wheel steering drive device so that the deviation between the target traveling azimuth angle of the vehicle and the actual traveling azimuth angle becomes zero. The display unit is configured to allow the driver to visually recognize the azimuth deviation between the target travel azimuth (conceptually including the target travel azimuth ) and the actual travel azimuth.

According to the above vehicle steering apparatus, the driver determines and indicates the target travel azimuth of the vehicle by rotating and steering the steering wheel, and the steered wheels so that the actual travel azimuth of the vehicle matches the target travel azimuth. In the configuration in which the vehicle is steered, a display unit is provided that gives the driver the deviation between the target travel azimuth (target travel azimuth) and the actual travel azimuth as information. When the target traveling azimuth angle matches the actual vehicle traveling azimuth angle, the azimuth angle deviation is zero. With this configuration, it is possible to provide the driver with important information on driving the vehicle.

Further, the vehicle steering apparatus according to the present invention, Oite the device structure described above, the target traveling azimuth output section, the target traveling azimuth is changed in accordance with the vehicle speed to the steering operation of the driver, display means, a dash It is composed of a line-shaped LED display unit consisting of LED elements arranged in a straight line in the vehicle body width direction on the board, and this line-shaped LED display unit indicates the traveling direction when the vehicle goes straight before steering is started. the initial position, the position of the LED element in which light this position as a reference, characterized by Rukoto recognize the azimuth angle deviation to the driver. According to this configuration, even if the ratio relationship between the steering angle by the driver's steering operation and the target traveling azimuth angle changes according to the vehicle speed in the steering system of the vehicle steering apparatus, the state is accurately determined to the driver. It can be confirmed.

The present invention has the following effects. The vehicle steering device that determines and indicates the target travel azimuth angle of the vehicle by the driver's steering action and turns the steered wheels so that the actual vehicle travel azimuth angle matches the target travel azimuth angle. Since the azimuth angle deviation based on the actual target travel azimuth angle of the vehicle from time to time is indicated to the driver with respect to the travel azimuth angle, important information regarding the state of steering control can be given to the driver during vehicle operation. When the target traveling azimuth angle instructed by the driver matches the actual vehicle traveling azimuth angle, it is possible to give a sense of security to the steering action related to the target traveling azimuth determined and instructed by the driver. Further, when the actual vehicle traveling azimuth does not match the instructed target traveling azimuth according to the content of the steering control, the situation is shown to the driver through visual recognition of the azimuth deviation based on the target traveling azimuth. I can inform you. Further, when the target travel azimuth indicated by the steering angle in the steering wheel rotation operation is reduced at a required rate based on control of the control system in high speed traveling, the direction based on the target travel azimuth actually generated by the control system The degree of angular deviation can be notified.

  DESCRIPTION OF EMBODIMENTS Preferred embodiments (examples) of the present invention will be described below with reference to the accompanying drawings.

  FIG. 1 shows a schematic device structure of a vehicle steering device of the present invention. The vehicle steering device 10 is used as an azimuth control vehicle steering device.

  No mechanical connection structure is provided between the handle 11 (generally referred to as “operation element”) and the front tire 21 that is a steered wheel. The rotation angle, that is, the steering angle operated by the driver at the steering wheel 11 is configured to generate the steering angle at the front tire 21 based on an electronic control system. The steering wheel 11 has a function as a target traveling azimuth angle input unit for determining and indicating the traveling azimuth of the vehicle as an azimuth angle that the driver wants to travel. In FIG. 2 showing the configuration of the control system, the handle 11 is shown as a block as the “target traveling azimuth angle input unit 11”. Thus, when the driver rotates the handle 11, the target traveling azimuth angle is input by the rotation angle, that is, the steering angle. The operation element is not limited to a conventional wheel-type handle, and various forms can be assumed.

  In the vehicle steering apparatus 10, an azimuth indicating angle detection unit 13 and a steering reaction force generation motor 14 are attached to the steering shaft 12 of the handle 11.

  The driver steers the steering wheel to input the target traveling azimuth angle. A steering angle (nθ) of the steering wheel 11 steered by the azimuth indicating angle detection unit 13 is detected, and a target traveling azimuth angle (θ) is determined based on the detected steering angle as described later. As a specific configuration, the azimuth indicating angle detector 13 measures the amount of rotation of the steering shaft 12 using a rotary encoder or the like and detects the steering angle (nθ) of the handle 11.

  The steering reaction force generation motor 14 is for applying a reaction force to the driver via the steering shaft 12 and the handle 11. Since the handle 11 is not connected to the front tire 21 as a mechanical structure as described above, it is necessary to apply a reaction force as a steering feeling for the driver when operating the handle.

  A detection signal output from the azimuth indicating angle detector 13 is input to the ECU 22 that is an electronic control unit. A drive signal for driving the steering reaction force generation motor 14 is given from the ECU 22. The steering reaction force generated by the steering reaction force generation motor 14 is determined according to the magnitude of the drive signal supplied from the ECU 22.

  As other detection systems in the vehicle steering apparatus 10, a vehicle speed detection unit 16 and an actual traveling azimuth angle detection unit 17 are provided.

  The vehicle speed detection unit 16 supplies a signal related to the traveling speed of the vehicle to the ECU 22. The actual traveling azimuth angle detection unit 17 is configured using a yaw rate gyro, a navigation system, and the like, and supplies a signal related to the actual traveling azimuth angle (information regarding the traveling azimuth or traveling direction) of the vehicle to the ECU 22.

  A steering mechanism 23 and a steering angle generator 19 are provided as a driving device for steering the front tire 21. The rudder angle generator 19 is constituted by a motor. The steering angle generator 19 steers the front tire 21 based on the steering drive signal output from the ECU 22.

  The ECU 22 further includes an azimuth deviation display unit 24 as an output unit.

  In the above, the ECU 22 inputs a signal related to the steering angle (nθ), a signal related to the vehicle speed (V), and the like, generates a target traveling azimuth angle (θ) based on these input signals, and steered angle generator 19 To steer the front tire 21. Further, as will be described later, the ECU 22 performs azimuth feedback control so that the actual traveling azimuth angle (ψ) of the vehicle matches the target traveling azimuth angle (θ), and the target traveling azimuth angle (θ) and the actual traveling azimuth angle. A steering reaction force is applied to the handle 11 via the steering reaction force generation motor 14 based on the azimuth angle (ψ).

  FIG. 2 is a block diagram of a control system of the vehicle steering apparatus 10 according to the present embodiment. A control system of the vehicle steering apparatus 10 will be described with reference to FIG.

  As described with reference to FIG. 1, the control system of the vehicle steering device 10 includes an ECU 22, a target travel azimuth angle input unit (handle) 11 and an azimuth instruction angle detection unit 13 provided on the input side thereof, and an input side of the ECU 22. The detection system includes a vehicle speed detection unit 16, an actual traveling azimuth angle detection unit 17, a steering reaction force generation motor 14 provided on the output side of the ECU 22, a steering angle generation unit 19, and an azimuth angle deviation display unit 24. Yes. The azimuth deviation display unit 24 inputs the target travel azimuth input via the target travel azimuth input unit (handle) 11 and / or the azimuth deviation between the target travel azimuth and the actual travel azimuth of the vehicle. Is displayed.

  Further, the ECU 22 includes a steering angle gain adjusting unit 31, a deviation calculating unit 32, a rudder angle adjusting gain adjusting unit 33, a rudder angle control unit 34, a rudder angle driving unit 35, and a steering function as control function elements. A reaction force gain adjustment unit 36 and a steering reaction force generation motor drive unit 37 are provided.

  The steering angle gain adjustment unit 31 appropriately adjusts the steering angle nθ from the azimuth indicating angle detection unit 13 and supplies it to the deviation calculation unit 32 as the target traveling azimuth angle θ. Here, the steering angle signal nθ output based on the configurations of the target travel azimuth angle input unit 11 and the azimuth indication angle detection unit 13 is larger than the target travel azimuth angle θ. is there. Therefore, the steering angle gain adjusting unit 31 performs a 1 / n division process to obtain the value of the target traveling azimuth angle θ. With this configuration, the proportional relationship between the target travel azimuth angle input unit, that is, the steering angle of the steering wheel 11 and the target travel azimuth angle (θ) is set to n: 1.

  Further, the value “n” of (1 / n) in the division process of the steering angle gain adjusting unit 31 is set to be variable according to the speed signal V output from the vehicle speed detecting unit 16.

  Next, the actual traveling azimuth angle detection unit 17 outputs the actual traveling azimuth angle ψ of the vehicle. The deviation calculating unit 32 calculates the difference between the target traveling azimuth angle θ and the actual traveling azimuth angle ψ, and outputs an azimuth angle deviation (θ−ψ). The steering angle gain adjustment unit 33 adjusts the azimuth deviation (θ−ψ) with the gain (Ks), and outputs Ks (θ−ψ) to the steering angle control unit 34. The rudder angle controller 34 generates a control signal for controlling the operation of the rudder angle generator 19 based on the input signal Ks (θ−ψ). The steering angle driving unit 35 generates a driving signal based on the control signal and drives the steering angle generating unit 19. As a result, the turning operation of the front tire 21 is performed based on the control contents, and the actual traveling azimuth angle ψ of the vehicle changes so as to coincide with the target traveling azimuth angle θ.

  Next, a signal related to the azimuth angle deviation (θ−ψ) output from the deviation calculation unit 32 is also input to the steering reaction force gain adjustment unit 36. The steering reaction force gain adjustment unit 36 generates a control signal for operating the steering reaction force generation motor drive unit 14 based on the azimuth angle deviation (θ−ψ), and the steering reaction force generation motor drive unit 37 of the next stage A drive signal for driving the steering reaction force generation motor is generated based on the control signal and supplied to the steering reaction force generation motor 14. Here, the reaction torque is adjusted and generated. When the steering reaction force generation motor 14 operates, a torque T is applied to the target travel azimuth angle input unit 11.

  Further, a signal related to the azimuth deviation (θ−ψ) output from the deviation calculator 32 is supplied to the azimuth deviation display unit 24. The azimuth angle deviation display unit 24 displays the information content of the azimuth angle deviation (θ−ψ) based on various modes as described later, using a signal related to the azimuth angle deviation (θ−ψ). Based on the content displayed on the azimuth deviation display unit 24, the driver who has visually recognized this is generated based on the target travel azimuth input unit, that is, the target travel azimuth input instructed by the rotation operation of the handle 11, and the steering control. The deviation from the actual vehicle traveling azimuth can be recognized sensuously. The signal input to the azimuth deviation display unit 24 may be the target traveling azimuth (target traveling azimuth) instead of the azimuth deviation (θ−ψ).

  Next, with reference to FIG. 3 and FIG. 4, the motion of the vehicle that is steered and traveled based on the vehicle steering device 10 of the azimuth angle control vehicle will be theoretically described. FIG. 3 shows various control variables on the XY plane in the vehicle. FIG. 4 is based on the assumption that FIG. 3 shows the steering angle δ, the yaw rate r, the actual traveling azimuth angle ψ, the forward and lateral vehicle speeds, and the vehicle position. The calculation formulas (1) to (11) for calculating the target traveling azimuth, that is, the steering angle θ are shown.

In FIG. 3, a plane coordinate system (X, Y) is set on the ground on which the vehicle 41 moves, the X coordinate value (x) of the center point C of the vehicle 41 is set to the forward vehicle position, and the Y coordinate value (y) is set to the horizontal direction. It is defined as the direction vehicle position. The vehicle 41 has a wheelbase of l, a stability factor A, a steering angle gain of Ks, a driver F / B gain ha, a vehicle speed V, a steering angle θ, a steering angle δ, and an actual traveling azimuth angle ψ. When the distance between P1 and the vehicle center point C is L and the lateral target course position y _OL determined by the relationship with the point P2, the steering angle δ, the yaw rate r, the traveling azimuth angle ψ, the vehicle speed (the forward direction and Each of the lateral direction), the vehicle position (forward direction and lateral direction), and the steering angle θ can be expressed by theoretical equations (1) to (11) shown in FIG. In the theoretical formula table of FIG. 4, the conventional vehicle and the azimuth angle control vehicle are shown in comparison.

  The steering angle δ is represented by the product of the steering angle gain Kc and the steering angle θ in the conventional vehicle. In the azimuth angle control vehicle according to the present embodiment, the steering angle δ is represented by the product of the difference between the steering angle θ and the traveling azimuth angle ψ and the steering angle gain Ks. The yaw rate r is expressed by equations (3) and (4) shown in FIG. The traveling azimuth angle ψ is obtained by integrating the yaw rate r with time. Regarding the vehicle speed, the forward component is obtained by the product of the cosine of the traveling azimuth angle ψ and the vehicle speed V, and the lateral component is obtained by the product of the sine of the traveling azimuth angle ψ and the vehicle speed V. The vehicle position is obtained by integrating the forward vehicle speed in the forward direction and obtained by integrating the lateral vehicle speed in the lateral direction. In the conventional vehicle, the steering angle θ is obtained by subtracting the product of the lateral vehicle position, the forward gazing point, and the traveling azimuth from the lateral target course position and multiplying the value by the driver's F / B gain. can get. In the azimuth angle control vehicle, the lateral target course position is obtained by subtracting the product of the lateral direction vehicle position, the forward gazing point and the azimuth angle, and multiplying that value by the driver's F / B gain.

  Next, with reference to FIGS. 5 to 9, some aspects of the azimuth deviation display unit 24 described above will be described.

  In FIG. 5, the azimuth deviation display unit 24 is realized by a head-up display. In FIG. 5, it is the figure which looked at the part of the front windshield 51 ahead from the vehicle interior of the said vehicle 41. FIG. 11 is the steering wheel on the front side of the driver's seat, 52 is the hood at the front of the vehicle, 53 is the road on which the vehicle is running and can be seen through the windshield 51, and 54 is projected onto the windshield 51 and displayed. It is a head-up display unit.

  In the azimuth deviation display unit 24, an azimuth deviation (θ−ψ) is displayed by an arrow mark 55 displayed on the head-up display unit 54. Specifically, the traveling direction when the vehicle goes straight before starting steering is set as the initial position 56, and the azimuth deviation (θ−ψ) is recognized based on the inclination of the arrow mark 55 with reference to the initial position 56. The arrow mark 55 approaches the initial position 56 as the actual traveling azimuth angle of the vehicle approaches the target traveling azimuth angle.

  It is also possible to display the target travel azimuth angle (target travel azimuth) by the arrow mark 55. In this case, the driver visually obtains mutual information between the actual traveling azimuth angle (traveling azimuth) and the target traveling azimuth angle (target traveling azimuth) based on the arrow mark 55. That is, for the driver, the information on the azimuth deviation can be obtained based on the comparison between the road 53 and the arrow mark 55 that are actually traveling.

  In FIG. 6, the azimuth deviation display unit 24 is realized by an LED display unit arranged linearly on a bonnet. FIG. 6 is a view similar to FIG. 5. In FIG. 6, 11 is a handle, 51 is a windshield, 52 is a hood, and 53 is a road portion, as in FIG. 5. Reference numeral 61 denotes a line-shaped LED display unit arranged linearly on the hood 52 in the vehicle body width direction.

  In this azimuth deviation display section 24, the azimuth deviation (θ−ψ) is displayed by, for example, the LED element 61a that is lit on the line LED display section 61. Specifically, the traveling direction when the vehicle goes straight before starting steering is set as the initial position 56, and the position of the LED element 61a that is lit is confirmed based on this initial position 56, and the azimuth deviation is recognized. The LED element 61a that is turned on approaches the initial position 56 as the actual traveling azimuth angle of the vehicle approaches the target traveling azimuth angle.

  It is also possible to obtain information relating to the target traveling azimuth (target traveling azimuth) as indicated by an arrow 62 in accordance with the position of the LED element 61a that is lit on the line-shaped LED display unit 61, for example. Note that the arrow 62 is a virtual image of the driver looking at the lit LED element 61a. In this case, the driver visually obtains mutual information between the actual traveling azimuth angle (traveling azimuth) and the target traveling azimuth angle (target traveling azimuth) based on the arrow 62 (lighted LED element 61a). That is, for the driver, the information on the azimuth angle deviation can be obtained based on the comparison relationship between the running road 53 and the lit LED element 61a.

In FIG. 7, the azimuth deviation display unit 24 is realized by an LED display unit arranged linearly on the dashboard. FIG. 7 is a view similar to FIG. 5 and FIG. 6. In FIG. 7, 11 is a handle, 51 is a windshield, 52 is a hood, and 53 is a road portion, as in FIG. Reference numeral 71 denotes a line-shaped LED display unit arranged linearly in the vehicle body width direction on a dashboard (no symbol) .

  In the azimuth deviation display unit 24, the azimuth deviation (θ−ψ) is displayed by, for example, the LED element 71a that is lit on the line LED display unit 71. Specifically, the traveling direction when the vehicle goes straight before starting the steering is set as the initial position 56, and the position of the LED element 71a that is turned on is confirmed based on the initial traveling direction to recognize the azimuth deviation. The LED element 71a that is turned on approaches the initial position 56 as the actual traveling azimuth angle of the vehicle approaches the target traveling azimuth angle.

  It is also possible to obtain information related to the target traveling azimuth (target traveling azimuth) as indicated by an arrow 72 in accordance with the position of the LED element 71a that is lit on the line-shaped LED display unit 71, for example. Note that the arrow 72 is a virtual image that the driver sees the lit LED element 71a. In this case, the driver visually obtains mutual information between the actual traveling azimuth angle (traveling azimuth) and the target traveling azimuth angle (target traveling azimuth) based on the arrow 72 (lighted LED element 71a). That is, for the driver, the information on the azimuth angle deviation can be obtained based on the comparison relationship between the running road 53 and the lit LED element 71a.

  In FIG. 8, the azimuth deviation display unit 24 is realized using a laser beam device. FIG. 8 is a view similar to FIG. 5. In FIG. 8, 11 is a handle, 51 is a windshield, 52 is a hood, and 53 is a road portion, as in FIG. 5. Reference numeral 81 denotes a laser beam emitting unit of the laser beam apparatus, which is installed at the upper edge portion of the windshield 51. The laser beam emitting unit 81 emits a beam-like laser beam 82 in a direction corresponding to the target traveling azimuth (target traveling azimuth) toward the front of the traveling direction of the vehicle, irradiates the road portion 53, and creates an irradiation spot 82a. .

  In this azimuth deviation display 24, the target traveling azimuth (target traveling azimuth) is displayed by the irradiation spot 82a created by the laser beam 82 emitted from the laser beam emitting unit 81, and the driver is based on the irradiation spot 82a. Thus, the mutual information of the actual traveling azimuth (traveling azimuth) and the target traveling azimuth (target traveling azimuth) is obtained visually. For the driver, the information on the azimuth deviation can be obtained based on the comparison between the road 53 and the irradiation spot 82a in practice.

  FIG. 9 is an implementation of the azimuth deviation display unit 24 using an arrow presentation device. FIG. 9 is a view similar to FIG. 5. In FIG. 9, 11 is a handle, 51 is a windshield, 52 is a hood, and 53 is a road portion, as in FIG. 5. Reference numeral 91 denotes an arrow presenting device equipped in the meter unit near the handle 11.

  In the azimuth deviation display unit 24, the azimuth deviation (θ−ψ) is displayed according to the direction of the arrow means indicated by the arrow presentation device 91. Specifically, the direction of the arrow means before starting the steering is set as the initial position, and the azimuth deviation (θ−ψ) is recognized based on the direction of the arrow means based on the initial position. The arrow means of the arrow presenting device 91 approaches the initial position as the actual traveling azimuth of the vehicle approaches the target traveling azimuth.

  It is also possible to display the target travel azimuth (target travel azimuth) by the arrow means of the arrow presenting device 91. In this case, the driver visually obtains mutual information between the actual traveling azimuth angle (traveling azimuth) and the target traveling azimuth angle (target traveling azimuth) based on the arrow means. That is, for the driver, the information on the azimuth deviation can be obtained based on the comparison between the road 53 and the arrow means that are actually traveling. As shown in FIG. 9, it is possible to provide a display unit 92 that displays the direction of the current course, such as a compass, superimposed on the arrow means of the arrow presentation device 91.

  The configurations, shapes, sizes, and arrangement relationships described in the above embodiments are merely schematically shown to the extent that the present invention can be understood and implemented. Therefore, the present invention is not limited to the described embodiments, and can be variously modified without departing from the scope of the technical idea shown in the claims.

  The present invention relates to a target travel azimuth angle determined and instructed by a driver via a steering wheel in a steering apparatus for an azimuth angle control vehicle, and information regarding the actual travel azimuth angle, that is, an azimuth angle deviation at that time is specially provided. It is used to inform the driver on the azimuth deviation display.

It is a typical device structure figure of the vehicle steering device of the present invention. It is a block block diagram of the control system of the vehicle steering device which concerns on this embodiment. It is a figure for demonstrating theoretically the motion of the vehicle steered and drive | working based on the steering device of an azimuth angle control vehicle, and is a figure which shows the various control variables in XY plane in a vehicle. FIG. 5 is a diagram for theoretically explaining the motion of a vehicle that is steered and traveled based on a steering device for an azimuth angle control vehicle; It is a figure which shows the table | surface which concerns on calculation theoretical formula (1)-(11) of steering angle (theta). It is a figure which shows the 1st aspect of an azimuth angle deviation display part. It is a figure which shows the 2nd aspect of an azimuth angle deviation display part. It is a figure which shows the 3rd aspect of an azimuth angle deviation display part. It is a figure which shows the 4th aspect of an azimuth angle deviation display part. It is a figure which shows the 5th aspect of an azimuth angle deviation display part.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Vehicle steering apparatus 11 Steering wheel 12 Steering shaft 13 Direction indication angle detection part 14 Steering reaction force generation motor 19 Steering angle generation part 21 Front side tire 23 Steering mechanism 24 Azimuth angle deviation display part 54 Head-up display part 61 Line-shaped LED display part 71 Line LED Display Unit 81 Laser Beam Emitting Unit 91 Arrow Presentation Device

Claims (1)

A target travel azimuth angle output means for outputting a target travel azimuth angle of the vehicle according to the steering operation of the driver;
An actual traveling azimuth angle detecting means for detecting an actual traveling azimuth angle of the vehicle;
A vehicle steering apparatus comprising: control means for controlling a steered wheel steering drive device so that a deviation between the target travel azimuth angle of the vehicle and the actual travel azimuth angle becomes zero;
A display means for allowing the driver to visually recognize an azimuth angle deviation between the target traveling azimuth angle of the vehicle and the actual traveling azimuth angle ;
The target travel azimuth angle output means is configured to change the target travel azimuth angle with respect to the driver's steering operation according to the vehicle speed,
The display means is constituted by a line-shaped LED display unit composed of LED elements arranged linearly in the vehicle body width direction on the dashboard,
The line-shaped LED display unit uses the traveling direction when the vehicle goes straight before starting steering as an initial position, and allows the driver to recognize the azimuth angle deviation based on the position of the LED element that is lit based on this position. steering system according to claim der Rukoto.

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