JP5365313B2 - Vehicle state control apparatus and method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To suitably coordinate a turning angle of a turned wheel with the inclination of a vehicle. <P>SOLUTION: A vehicle state control device includes a vehicle body inclination part 20 for inclining a vehicle body in a rolling direction according to driving operation of a driver for turning a wheel; a steering angle adjustment part 44 for adjusting the turning angle of the wheel relative to a driving operation amount of the driver for turning the wheel; a steering angle detection part 43 for detecting the turning angle of the wheel; and a control part 2 for reducing the maximum value in a variable range of inclination of the vehicle body based on increase of the turning angle of the wheel detected by the steering angle detection part 43. <P>COPYRIGHT: (C)2011,JPO&amp;INPIT

Description

  The present invention relates to a technique for tilting a vehicle body in a vehicle body width direction in accordance with a driving operation of a driver turning a wheel.

  Patent Document 1 discloses a device that tilts a vehicle body in a turning direction in accordance with steering of a steering wheel.

Japanese Patent Laid-Open No. 2003-26068

By the way, in patent document 1, the steering apparatus used as the structure by the side of steering a steering wheel and the vehicle body tilting apparatus used as the structure which tilts a vehicle body are mechanically connected.
Therefore, when the turning angle of the steered wheels (steering angle of the steering wheel) increases and the turning radius decreases, the amount of tilting of the vehicle may increase more than necessary.
For example, when traveling on a narrow alley or entering a garage, if the turning angle of the steered wheels increases, there is a risk that a tilted vehicle body may interfere with the alley or the side wall of the garage.
An object of the present invention is to appropriately coordinate the turning angle of the steered wheels and the tilting amount of the vehicle body.

  In order to solve the above-described problems, the present invention provides a variable range of tilting of the vehicle body based on an increase in the turning angle of the wheel when the vehicle body is tilted in the roll direction according to the steering of the wheel by the driver. Decrease the maximum value.

  According to the present invention, the turning angle of the steered wheels and the tilting amount of the vehicle can be appropriately coordinated.

It is a figure which shows the mounting state to the vehicle of the vehicle state control apparatus of this embodiment. It is the figure which looked at the vehicle state control apparatus of this embodiment from the vehicle upper direction. It is a perspective view which shows the structure of a suspension part and a vehicle body tilting part. It is a figure which shows the specific structure of a vehicle body tilting part. It is a figure which shows the map of a control part.

(Constitution)
1 and 2 show a configuration of a vehicle state control device to which the present invention is applied. FIG. 1 shows a state in which the vehicle state control device is mounted on a vehicle. FIG. 2 shows the vehicle state control device as viewed from above the vehicle.
As shown in FIGS. 1 and 2, the vehicle state control device includes a vehicle state detection unit 1, a control unit 2, and a vehicle body tilting unit 20. This vehicle has wheels 4, a steering unit 40, and a suspension unit 50 with respect to the vehicle body 3 in the same manner as a normal vehicle.

The steering unit 40 includes a steering wheel 41, a steering shaft 42, a steering angle detection unit 43, a steering angle adjustment unit 44, a steering amount conversion unit 45, a steering shaft member 46, and a transmission connection member 47.
The steering angle detection unit 43 detects the steering angle of the steering wheel 41. For example, the steering angle detector 43 is a steering angle sensor. The steering angle detection unit 43 outputs the detected steering angle to the control unit 2. The vehicle state detection unit 1 includes the steering angle detection unit 43.

  The steering angle adjustment unit 44 is configured to be able to adjust the steering amount by the steering wheel 41. That is, the rudder angle adjustment unit 44 is configured to be able to change the output angle (the output angle of the tearing shaft or pinion) with respect to the input angle (steering angle) from the steering wheel 41. For example, the rudder angle adjustment unit 44 is configured as a gear unit. For example, the rudder angle adjustment unit 44 includes a planetary mechanism, a worm gear mechanism, and the like. By this rudder angle adjusting unit 44, it is possible to obtain optimum steering characteristics or optimum steered wheel turning angle characteristics.

The steering amount conversion unit 45 converts the rotational motion of the steering wheel 41 into the linear motion of the steering shaft member 46. For example, the steering amount conversion unit 45 is a pinion attached to the tip of the steering shaft. The steering shaft member 46 is a rack.
The transmission connecting member 47 is configured to transmit the linear motion of the steering shaft member 46 to the wheels (steered wheels) 4. For example, the transmission connecting member 47 is a tie rod and a knuckle arm.
The suspension part 50 includes a suspension, a coil spring, and a shock absorber (attenuation part). In this embodiment, the suspension is a double wishbone suspension.

FIG. 3 shows a configuration example of the suspension unit 50. The suspension includes a pair of upper and lower V-shaped arms 51 and 52 that suspend (connect) wheels 4 to the vehicle body (chassis) 3. The shock absorber 53 has its lower mount attached to the lower arm 52 of the suspension. The shock absorber 53 has an upper mount attached to the vehicle body tilting portion 20 (specifically, an end portion of the arm member 21a). The shock absorber 53 includes a bracket (not shown), and a coil spring 54 through which the shock absorber 53 is inserted is attached to the shock absorber 53 by this bracket.
The vehicle body tilting unit 20 supports the vehicle body so as to be swingable in the vehicle width direction, and tilts the vehicle body 3.

FIG. 4 shows a specific configuration of the vehicle body tilting portion 20. The vehicle body tilting unit 20 includes a tilting unit 21 and a tilting angle adjusting unit 30. Further, the tilt angle adjustment unit 30 includes a drive unit 31 and a rotation angle detection unit 32. The drive unit 31 drives the tilting unit 21.
The drive unit 31 includes a rotation motor 31a, a coupler 31b, and a speed reducer 31c. The rotation angle detection unit 32 is, for example, a rotation angle sensor. The vehicle state detection unit 1 includes the rotation angle detection unit 32.

  In the tilt angle adjusting unit 30, the rotation motor 31a is fixed to the vehicle body 3 by an attachment member 31d. At this time, the rotation motor 31a is fixed to the vehicle body 3 so that the rotation shaft of the rotation motor 31a is parallel to the vehicle longitudinal direction. Further, in the tilt angle adjusting unit 30, the speed reducer 31c is attached to the vehicle body 3 by the attachment member 31e. A reduction gear 31c is attached so as to be aligned with the rotary motor 31a in the vehicle front-rear direction. And in the tilt angle adjustment part 30, the output part of the rotation motor 31a and the input part of the reduction gear 31c are connected by the coupler 31b. The tilting part 21 is attached to the output part (rotating shaft) of the speed reducer 31c.

  The tilting portion 21 rotatably supports arm members 21a extending in the vehicle width direction. Specifically, the tilting portion 21 supports a rotating shaft member 21b that extends in the vehicle front-rear direction and is rotationally driven by a speed reducer 31c by a rotating shaft support member 21c. In more detail, in the tilting part 21, while supporting the site | part by the side of the reduction gear 31c of the rotating shaft member 21b rotatably by the one rotating shaft support member 21c, the edge part of the rotating shaft member 21b is the other rotating shaft support member. It is supported by 21c.

In the tilting part 21, the arm member 21a is attached to the rotating shaft member 21b rotatably supported in this way. And in the tilting part 21, as shown in the said FIG. 3, the upper end part (upper mount) of the shock absorber 53 is attached to the edge part of the arm member 21a. The upper end portion of the shock absorber 53 is attached to the end portion of the arm member 21a so as to be rotatable.
In FIG. 3, the shock absorber 53 is attached only to one end of the arm member 21a. However, actually, as shown in FIG. 2, shock absorbers 53 for the left and right wheels are attached to both ends of the arm member 21a.

  In the vehicle body tilting section 20 configured as described above, when the driving section 31 is rotationally driven, the rotational motion is transmitted to the speed reducer 31c via the coupler 31b. The reduction gear 31c attenuates the input rotational motion by a predetermined ratio. And in the tilting part 21, the rotating shaft member 21b rotates, and the arm member 21a rotates centering on the rotating shaft extended in the vehicle front-back direction. A force acts in the axial direction of the shock absorber 53 by the rotation of the arm member 21a.

  As a result, when the force acting in the axial direction of the shock absorber 53 acts to shrink the shock absorber 53, that is, when the end of the arm member 21a approaches the ground, the end of the arm member 21a in the vehicle width direction. The vehicle body side where the is located is lifted upward. That is, when the arm member 21a rotates in the clockwise direction when viewed from the front of the vehicle, the vehicle body 3 rotates and tilts in the opposite counterclockwise direction (tilts).

The vehicle state detection unit 1 detects a vehicle state. For example, the vehicle state to be detected includes the host vehicle speed, the lateral acceleration, the tilt angle of the vehicle body, the turning angle of the steering wheel 41, and the like. The vehicle state detection unit 1 outputs the detection result to the control unit 2.
The control unit 2 controls the vehicle body tilting unit 20 and the steering angle adjustment unit 44 based on the detection results of the vehicle state detection unit 1, the rotation angle detection unit 32, and the steering angle detection unit 43. The control unit 2 outputs a control signal to the vehicle body tilting unit 20 (specifically, the drive unit 31), drives the rotary motor 31a, and tilts the vehicle body 3 to a desired angle. In addition, the control unit 2 controls the steering angle adjustment unit 44 to adjust the steering amount by the steering wheel 41.

For example, from the detection result of the vehicle state detection unit 1, the control unit 2 increases the tilt angle of the vehicle body that tilts in the steering angle direction as the turning angle of the steered wheels increases (during large steering angle steering).
Further, for example, the control unit 2 determines from the detection result of the vehicle state detection unit 1 when the vehicle speed is high (middle speed to high speed), when the lateral acceleration is large and the turning angle is large (at the time of large steering angle steering). ) Increase the tilt angle of the vehicle body in the rudder angle direction. Further, from the detection result of the vehicle state detection unit 1, the control unit 2 tilts the vehicle body in the steering angle direction when the vehicle speed is low (low speed) and the steering angle is small (during small steering angle steering). Make the corner smaller.

  FIG. 5 shows an example of a map (control map) that the control unit 2 has. As shown in FIG. 5, the horizontal axis is the vehicle body tilt angle, and the vertical axis is the wheel steering angle. And the vehicle body tilt angle and the wheel rudder angle are regulated by the respective upper limit values. The upper limit value of the vehicle body tilt angle is the maximum vehicle body tilt angle. The upper limit value of the wheel steering angle (steering angle) is the maximum wheel steering angle (maximum wheel steering angle). The maximum vehicle body tilt angle and the maximum wheel rudder angle are values determined from vehicle requirements. By such setting of the upper limit value, the vehicle body tilt angle and the wheel steering angle change within the range of the set upper limit value.

  In the map, angle restriction lines are provided for the vehicle body tilt angle and the wheel rudder angle. Specifically, in the map, a certain vehicle body tilt angle at the maximum wheel steering angle is taken as point P, and a certain wheel steering angle at the maximum vehicle body tilt angle is taken as Q point. The vehicle body tilt angle at the point P is smaller than the maximum vehicle body tilt angle. Further, the wheel steering angle at the point Q is a value smaller than the maximum wheel steering angle. In the map, the R line that is a straight line connecting the P point and the Q point is used as an angle restriction line.

Thereby, when the relationship between the vehicle body tilt angle and the wheel rudder angle is established, the vehicle body tilt angle and the wheel rudder angle are regulated by the angle regulation line R.
For example, in the case of the wheel rudder angle reference, when the wheel rudder angle is α1 (> Q point wheel rudder angle), the maximum vehicle body tilt angle is regulated by the angle regulation line R and becomes β1. β1 is a value smaller than the maximum vehicle body tilt angle when the wheel steering angle is smaller than the wheel steering angle at the Q point. Here, the wheel rudder angle reference refers to a case where the wheel rudder angle is used as a reference for restriction, that is, the vehicle body tilt angle is restricted according to the wheel rudder angle.

For example, in the case of the vehicle body tilt angle reference, when the vehicle body tilt angle is β1 (> the vehicle body tilt angle at point P), the maximum wheel steering angle is regulated by the angle regulation line R to be α1. α1 is a value smaller than the maximum vehicle body tilt angle when the vehicle body tilt angle is smaller than the vehicle body tilt angle at point P. Here, the vehicle body tilt angle reference refers to the case where the vehicle body tilt angle is used as a reference for regulation, that is, the wheel steering angle is regulated according to the vehicle body tilt angle.
According to this map, when the wheel rudder angle increases to some extent (> Q point wheel rudder angle), the maximum vehicle body tilt angle decreases. Further, when the vehicle body tilt angle increases to some extent (> P point vehicle body tilt angle), the maximum wheel steering angle decreases.

(Operation)
The vehicle state control device controls the vehicle body tilting unit 20 and the steering angle adjusting unit 44 based on the detection results of the vehicle state detecting unit 1, the rotation angle detecting unit 32, and the steering angle detecting unit 43. Specifically, the vehicle state control device outputs a control signal to the vehicle body tilting unit 20 (specifically, the drive unit 31) to tilt the vehicle body 3 to a desired angle. Further, the vehicle state control device controls the steering angle adjustment unit 44 to adjust the steering amount by the steering wheel 41.
At this time, the vehicle state control device reduces the maximum vehicle body tilt angle when the wheel steering angle increases to some extent. Further, the vehicle state control device decreases the maximum wheel steering angle when the vehicle body tilt angle increases to some extent.
For example, the tilting operation is effective when lateral acceleration is generated mainly by turning or the like, that is, mainly during medium speed to high speed traveling and small steering angle steering.

On the other hand, it is possible to run on a narrow alley or put in a garage by low-speed running and large steering angle steering. If the tilting operation is performed during such low speed traveling and large steering angle steering, the tilted vehicle body may interfere with the alley or the side wall of the garage.
Here, in Patent Document 1, a steering device having a configuration on the steering side of a steering wheel and a vehicle body tilting device having a configuration for tilting the vehicle body are mechanically coupled. Therefore, the vehicle body is uniquely inclined in the turning direction according to the amount of steering of the steering wheel. Therefore, in the technique of Patent Document 1, even when it is better not to tilt the vehicle body during low-speed traveling and large steering angle steering, the vehicle body is tilted by the tilting operation.

In contrast, in this embodiment, when the value of either the wheel steering angle or the vehicle body tilt angle is increased to some extent, the maximum value of either the wheel steering angle or the vehicle body tilt angle (the maximum wheel steering angle or The maximum vehicle body tilt angle) is reduced.
As a result, the maximum value of the vehicle body tilt angle (maximum vehicle body tilt angle) decreases when the wheel rudder angle is large. Therefore, when it is better not to tilt the vehicle body during low-speed driving and large steering angle steering, The amount can be suppressed. As a result, it is possible to prevent the inclined vehicle body from interfering with the alley or the side wall of the garage.

(Modification of the embodiment)
(1) In this embodiment, the suspension type is a double wishbone type. However, the suspension means is not limited to the double wishbone type.
(2) In the present embodiment, the vehicle body tilting portion 20 is provided on the front wheel side. However, it is also possible to provide a vehicle body tilting part on the rear wheel side or front and rear.
(3) The steering angle adjustment unit 44 can also adjust the steering amount by the steering wheel 41 based on the tilt amount of the vehicle body. In this case, the rudder angle adjustment unit 44 detects the tilt amount of the vehicle body from the detection value of the rotation angle detection unit 32 or the like. For example, the amount of change in the turning angle of the steered wheels with respect to the amount of change in the steering amount of the steering wheel 41 is reduced as the amount of tilt of the vehicle body increases.

(4) In FIG. 5, the regulation line R is a straight line. However, the restriction line R can be a curve or a combination of a straight line and a curve depending on the characteristics of the vehicle.
In the present embodiment, in the vehicle state control method for tilting the vehicle body in the roll direction in accordance with the driving operation of the driver who steers the wheel, the tilt of the vehicle body is increased based on the increase in the steering angle of the wheel. A vehicle state control method for reducing the maximum value of the variable range is realized.
In the present embodiment, the vehicle body tilting unit 20 corresponds to the vehicle body tilting unit and the tilting connection unit, the steering angle adjusting unit 44 corresponds to the turning angle adjusting unit, and the steering angle detecting unit 43 is the wheel steering angle detecting unit. , The control unit 2 corresponds to the maximum value limiting unit, the rotation angle detection unit 32 corresponds to the tilt amount detection unit, the steering amount conversion unit 45 corresponds to the steering amount conversion unit, and the transmission connecting member 47 transmits. Corresponds to the connecting member.

(Effect of this embodiment)
(1) The vehicle body tilting unit tilts the vehicle body in the roll direction according to the driving operation of the driver who steers the wheel.
Further, the turning angle adjusting means adjusts the turning angle of the wheel with respect to the driving operation amount of the driver turning the wheel.
Further, the wheel turning angle detection means detects the turning angle of the wheel.
The maximum value limiting means reduces the maximum value of the variable range of the tilt of the vehicle body based on the increase in the wheel turning angle detected by the wheel turning angle detecting means.
Thus, when the vehicle state control device tilts the vehicle body in the roll direction according to the steering of the wheel by the driver, the maximum value of the variable range of the vehicle body tilt based on the increase of the wheel steering angle. Make it smaller.
Thereby, when the turning angle of a wheel is large, it can prevent that the amount of tilting of a vehicle body becomes large carelessly.
As a result, the turning angle of the steered wheels and the amount of vehicle tilt can be appropriately coordinated.

(2) The wheel turning angle detection means is based on the operation amount of the operation means operated by the driver for turning the wheel or the turning angle control signal for driving the turning angle adjustment means. Detect the rudder angle.
Thereby, the turning angle of a wheel can be detected reliably and accurately.
(3) The vehicle state control device includes a tilt amount detection means for detecting the tilt amount of the vehicle body.
Then, the maximum value limiting means reduces the maximum value of the variable range of the turning angle of the wheel based on the increase in the tilt amount of the vehicle body detected by the tilt amount detecting means.
Thereby, when the amount of tilting of the vehicle body is large, it is possible to prevent the turning angle of the wheel from being inadvertently increased.
As a result, the turning angle of the steered wheels and the amount of vehicle tilt can be appropriately coordinated.

(4) The tilt amount detecting means detects the tilt amount of the vehicle body based on the tilt angle of the vehicle body, the operation of the constituent members of the vehicle body tilt means, or the tilt angle control signal for driving the vehicle body tilt means.
Thereby, the amount of tilting of the vehicle body can be detected reliably and accurately.
(5) The chassis is connected to the wheels via suspension means.
Further, the tilt connection member connects the vehicle body to the chassis so as to be tiltable.
Further, the steering amount conversion unit is fixed to the vehicle body, and converts a driving operation amount that steers the driver's wheels into a displacement in the vehicle width direction.
The transmission connecting member transmits the converted displacement in the vehicle width direction to the wheel to steer the wheel.

(6) The vehicle body tilting means is a rotation motor (rotation motor 31a) controlled on the basis of the driving operation of the driver turning the wheel, and is driven by the rotation motor to rotate about an axis parallel to the vehicle longitudinal direction. A rotating member (arm member 21a) that rotates as described above.
Here, one end of a shock absorber (shock absorber 53) of a wheel is attached to an end portion of the rotating member extending in the radial direction from the rotation center.
The vehicle body tilting means rotates the rotating motor to rotate the rotating member, thereby transmitting force from the end of the rotating member to one end of the shock absorber to tilt the vehicle body.
Thereby, a vehicle body can be tilted reliably.

  DESCRIPTION OF SYMBOLS 1 Vehicle state detection part, 2 Control part, 20 Car body tilting part, 43 Steering angle detection part, 44 Steering angle adjustment part

Claims (6)

Vehicle body tilting means for tilting the vehicle body in the roll direction in accordance with the driving operation of the driver turning the wheel;
A turning angle adjusting means for adjusting a turning angle of the wheel with respect to a driving operation amount of a driver turning the wheel;
Wheel turning angle detection means for detecting the turning angle of the wheel;
Maximum value limiting means for reducing the maximum value of the variable range of tilting of the vehicle body based on the increase in the turning angle of the wheel detected by the wheel turning angle detection means;
A tilt amount detecting means for detecting the tilt amount of the vehicle body,
The maximum value limiting means reduces the maximum value of the variable range of the turning angle of the wheel based on an increase in the amount of tilt of the vehicle body detected by the tilt amount detecting means .   The wheel turning angle detection means is based on an operation amount of an operation means operated by a driver to turn a wheel or a turning angle control signal for driving the turning angle adjustment means. The vehicle state control device according to claim 1, wherein a steering angle is detected. The tilt amount detecting means detects the tilt amount of the vehicle body based on a tilt angle of a vehicle body, an operation of a component member of the vehicle body tilt means, or a tilt angle control signal for driving the vehicle body tilt means. The vehicle state control device according to claim 1 or 2 . A chassis coupled via wheels and suspension means;
A tilting connection member for tiltingly connecting the vehicle body to the chassis;
A steering amount conversion section that is fixed to the vehicle body and converts a driving operation amount that steers the driver's wheels into displacement in the vehicle width direction;
A transmission coupling member for turning the wheels to transmit the converted vehicle width direction displacement to the wheel,
The vehicle state control device according to claim 1, further comprising: The vehicle body tilting means is a rotation motor that is controlled based on a driving operation of a driver that steers wheels, and a rotation that is driven by the rotation motor and rotates about an axis parallel to the vehicle longitudinal direction. A member, and
One end of a shock absorber of a wheel is attached to an end portion extending in a radial direction from the rotation center of the rotating member,
The vehicle body tilting means, the rotary motor is rotated by rotating the rotating member, the vehicle state control device according to any one of claim 1 to 4, characterized in that tilting the vehicle body. In the vehicle state control method of tilting the vehicle body in the roll direction according to the driving operation of the driver turning the wheel,
Based on the increase in the turning angle of the wheel, the maximum value of the variable range of the tilting of the vehicle body is reduced , and based on the increase in the amount of tilting of the vehicle body, the maximum value of the variable range of the steering angle of the wheel A vehicle state control method characterized by reducing the size of the vehicle.

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