JP5691489B2 - Camber system - Google Patents

Description

  The present invention relates to a camber system.

  Conventionally, when a vehicle travels straight at a high speed, that is, when the vehicle travels straight, when the vehicle turns, that is, when the vehicle turns, it is applied to predetermined wheels, for example, right rear and left rear wheels. There is provided a camber system capable of providing a negative camber (negative camber).

  In the camber system, an actuator is disposed between a vehicle body and each wheel, and each actuator swings with respect to a motor and a bracket fixed to a bracket disposed at a predetermined position of the body. A movable plate that is movably disposed, a crank mechanism that converts a rotational motion of the motor into a swing motion of the movable plate, and the like. When each motor is driven by operating the motor drive circuit, the crankshaft constituting the crank mechanism is rotated, and the arm swings the movable plate as the crankshaft rotates, and the wheels Give camber to

  Accordingly, when the vehicle is traveling straight, turning, etc., canvas rust can be generated in a direction opposite to the tires of the wheels, so that stability during straight travel (hereinafter referred to as “travel stability”) and Stability during turning (hereinafter referred to as “turning stability”) can be increased.

  By the way, in the camber system, an angle representing a rotation position when the crankshaft is rotated, that is, a crank angle as the rotation angle is detected, and camber is applied based on the detected crank angle. ing.

  In this case, the crank pin of the crank mechanism at a predetermined position, for example, the position of the crankshaft when placed at the first dead center, is the camber application start position, i.e., the camber application start position. In addition, the camber release end position, that is, the camber release end position is set, and the crankshaft position when the crankpin is placed at another predetermined position, for example, the second dead center, is set. The camber grant end position, that is, the camber grant end position, and the camber grant release start position, that is, the camber release start position are set.

  When the crankshaft is rotated from the camber application start position to the camber application end position, the camber is applied to the wheel. When the crankshaft is rotated from the camber release start position to the camber release end position, the camber applied to the wheel is released. Is done.

  In order to detect the crank angle between the camber application start position and the camber application end position, a magnetic non-contact angle sensor as an angle detection unit is provided. The angle sensor includes a case, a core connected to the crankshaft and rotatably disposed with respect to the case, a pair of magnets attached to the core, a Hall element attached to the case, and the magnet. When the core is rotated in accordance with the rotation of the crankshaft, the output voltage of the Hall element is linearly proportional to the angle representing the position of the core, that is, the sensor angle. And output as the output voltage of the angle sensor. Therefore, the crank angle can be detected by reading the output voltage (see, for example, Patent Document 1).

  In this case, when the crankshaft is rotated between a camber application start position (camber release start position) and a camber application end position (camber release end position), the range in which the core is rotated is the operation of the angle sensor. Scope.

Japanese Patent Laid-Open No. 2005-61952

  However, in the conventional camber system, the range in which the crank angle can be detected by the angle sensor, that is, the detectable range of the angle sensor is set to 0 [°] to 360 [°] in absolute angle. When manufacturing the camber system, it is necessary to attach the angle sensor to the crank mechanism so that the operating range of the angle sensor is within the detectable range.

  FIG. 2 is a first diagram showing the relationship between the detectable range of the angle sensor and the operating range in the conventional camber system, and FIG. 3 is a first diagram showing the relationship between the detectable range of the angle sensor and the operating range in the conventional camber system. FIG. 2 and 3, the horizontal axis represents the absolute angle K of the angle sensor, and the vertical axis represents the output voltage v of the angle sensor.

  In the figure, Ps is a camber grant start position and a camber release end position, and Pe is a camber grant end position and a camber release start position.

  Normally, in an angle sensor, the position of the core where the output voltage v when the core is rotated reaches the minimum value va is 0 [°] in absolute angle, and the position of the core where the output voltage v reaches the maximum value vb is absolute. When the angle is set to 360 ° and the absolute angle range between 0 ° and 360 ° is set to the detectable range, and the position of the core is changed in the detectable range, the position of the core The output voltage v changes in proportion to the absolute angle.

  And, for example, when setting the operating range of the angle sensor in the actuator set so that camber is applied when the motor is driven in the reverse direction, first, the motor is driven at the camber application start position Ps, The rotation of the crankshaft is started, and the position of the core in a state where the crankshaft is rotated is detected as an initial angle by the angle sensor.

  Subsequently, the initial angle is set to the initial value, the motor drive is stopped at the camber application end position Pe, and the position of the core when the rotation of the crankshaft is ended subtracts 180 [°] from the initial value. Thus, the target achievement angle is calculated.

  For example, as shown in FIG. 2, when the initial value is 270 ° in absolute angle, the target achievement angle is 90 ° in absolute angle.

  Therefore, the initial value is set to 0 [°] as a relative angle, the target achievement angle is set to 180 [°] as a relative angle, and the angle sensor includes a camber application start position Ps and a camber application end position Pe. The operating range is set.

  Also, when setting the operating range of the angle sensor in an actuator set so that camber is applied when the motor is driven in the forward direction, first, the motor is driven at the camber application start position Ps, and the crankshaft The rotation is started, and the position of the core when the crankshaft is rotated is detected as an initial angle by the angle sensor.

  Subsequently, the initial angle is set to the initial value, the driving of the motor is stopped at the camber application end position Pe, and the position of the core when the rotation of the crankshaft is completed adds 180 [°] to the initial value. Thus, the target achievement angle is calculated.

  For example, as shown in FIG. 3, when the initial value is 45 [°] in absolute angle, the target achievement angle is 225 [°] in absolute angle.

  Therefore, by setting the initial value to 0 [°] as a relative angle and setting the target achievement angle to 180 [°] as a relative angle, an angle between the camber application start position Ps and the camber application end position Pe is set. The operating range of the sensor is set.

  As a result, the crank angle can be detected in a relative angle from 0 [°] to 180 [°].

  However, in the conventional camber system, it is necessary to attach the angle sensor to the crank mechanism so that the operating range of the angle sensor is within the detectable range at the time of manufacture. troublesome. Further, when the operating range of the angle sensor does not fall within the detectable range, the crank angle cannot be detected.

  The present invention provides a camber system that can solve the problems of the conventional camber system, simplify the work for attaching the angle detector to the crank mechanism, and reliably detect the crank angle. The purpose is to do.

  Therefore, in the camber system of the present invention, a camber is applied to a vehicle body, a plurality of wheels rotatably arranged with respect to the body, and predetermined wheels among the wheels. It is arranged to release the application, and is attached to the rotary body at a drive unit, a rotary body that is rotated within a range of a predetermined angle as the drive unit is driven, and an arbitrary mounting position in the rotation direction, A camber variable mechanism provided with an angle detection unit for detecting a rotation angle of the rotating body, and an angle detected by the angle detecting unit in a state where the rotating body is placed at an initial position as an initial value of the rotating body, The angle detected by the angle detection unit when the camber is applied to the wheels and the camber is released is set as the target achievement angle of the rotating body, and the angle detection unit determines between the initial value and the target achievement angle. Earning Operating range setting processing means for setting as a range; and code boundary angle setting processing means for setting a code boundary angle that is a positive / negative boundary when the initial value and the target achievement angle are expressed as relative angles outside the operating range; Rotation angle calculation processing means for calculating the rotation angle of the rotator as a relative angle based on the current angle, the initial value, and the code boundary angle detected by the angle detector while the rotator is being rotated. And have.

  According to the present invention, in the camber system, a camber is applied to a vehicle body, a plurality of wheels rotatably arranged with respect to the body, and a predetermined wheel among the wheels. It is arranged to release the application, and is attached to the rotary body at a drive unit, a rotary body that is rotated within a range of a predetermined angle as the drive unit is driven, and an arbitrary mounting position in the rotation direction, A camber variable mechanism provided with an angle detection unit for detecting a rotation angle of the rotating body, and an angle detected by the angle detecting unit in a state where the rotating body is placed at an initial position as an initial value of the rotating body, The angle detected by the angle detection unit when the camber is applied to the wheels and the camber is released is set as the target achievement angle of the rotating body, and the angle detection unit determines between the initial value and the target achievement angle. Working range An operating range setting processing means for setting as a sign boundary angle setting processing means for setting a sign boundary angle that is a positive / negative boundary when the initial value and the target achievement angle are expressed as relative angles outside the operating range; Rotation angle calculation processing means for calculating the rotation angle of the rotating body as a relative angle based on the current angle, the initial value, and the code boundary angle detected by the angle detection unit in a state where the rotating body is rotated; Have

  In this case, the operating range of the angle detection unit is set based on the initial value detected by the angle detection unit in a state where the rotary body is placed at the initial position, and the angle detection unit is in a state where the rotary body is rotated. Since the rotation angle of the rotator is calculated as a relative angle with respect to the operating range based on the current angle detected by, even if the angle detector is attached to the rotator at any attachment position in the rotation direction, the rotator The rotation angle can be reliably detected as a relative angle. Therefore, the work for attaching the angle detection unit to the rotating body can be simplified.

It is a figure which shows the example of the operating range of the angle sensor in embodiment of this invention. It is a 1st figure which shows the relationship between the detectable range of an angle sensor and the operation range in the conventional camber system. It is a 2nd figure which shows the relationship between the detectable range of an angle sensor and the operating range in the conventional camber system. It is a conceptual diagram of the vehicle in embodiment of this invention. 1 is a perspective view of a camber system in an embodiment of the present invention. It is a front view of the camber system in an embodiment of the invention. It is a top view which shows the principal part of the camber system in embodiment of this invention. It is a control block diagram of the vehicle in the embodiment of the present invention. FIG. 4 is a relationship diagram between a crank angle and a camber angle in the embodiment of the present invention. It is a top view of the actuator for providing a camber to the left rear wheel in an embodiment of the invention. It is a top view of the actuator for providing camber to the wheel of the right back in an embodiment of the invention. It is a 1st figure for demonstrating the operating range of the angle sensor in embodiment of this invention. It is a 2nd figure for demonstrating the operating range of the angle sensor in embodiment of this invention. It is a 3rd figure for demonstrating the operating range of the angle sensor in embodiment of this invention. It is a 4th figure for demonstrating the operating range of the angle sensor in embodiment of this invention. It is a 5th figure for demonstrating the operating range of the angle sensor in embodiment of this invention. It is a 6th figure for demonstrating the operating range of the angle sensor in embodiment of this invention. It is a main flowchart which shows operation | movement of the control part in embodiment of this invention. It is a 1st figure which shows the subroutine of the code | symbol boundary angle setting process in embodiment of this invention. It is a 2nd figure which shows the subroutine of the code | symbol boundary angle setting process in embodiment of this invention. It is a 1st figure which shows the subroutine of the positive direction relative angle calculation process in embodiment of this invention. It is a 2nd figure which shows the subroutine of the positive direction relative angle calculation process in embodiment of this invention. It is a 3rd figure which shows the subroutine of the positive direction relative angle calculation process in embodiment of this invention. It is a 1st figure which shows the subroutine of the reverse direction relative angle calculation process in embodiment of this invention. It is a 2nd figure which shows the subroutine of the reverse direction relative angle calculation process in embodiment of this invention. It is a 3rd figure which shows the subroutine of the reverse direction relative angle calculation process in embodiment of this invention.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

  FIG. 4 is a conceptual diagram of the vehicle in the embodiment of the present invention.

  In the figure, 11 is a body that is a vehicle body, 12 is an engine as a drive source, WLF, WRF, WLB, and WRB are arranged on the left front, right front, and left rear that are rotatably arranged with respect to the body 11. And the right rear wheel. The wheels WLF and WRF constitute a driving wheel and a front wheel, and the wheels WLB and WRB constitute a driven wheel and a rear wheel. Further, the wheel WLF forms the left front wheel, the wheel WRF forms the right front wheel, the wheel WLB forms the left rear wheel, and the wheel WRB forms the right rear wheel.

  The vehicle has a front-wheel drive structure, and the engine 12 and the wheels WLF and WRF are connected by a drive shaft (not shown) as a transmission shaft. Then, the rotation generated by driving the engine 12 is transmitted to the wheels WLF and WRF, and the wheels WLF and WRF are rotated.

  In the present embodiment, the vehicle has a front wheel drive structure, but the wheels WLB and WRB function as drive wheels, the rear wheel drive system, and the wheels WLF, WRF, WLB, and WRB are drive wheels. It is also possible to have a structure such as a four-wheel drive system that functions as: Further, a wheel motor for traveling as a drive source is disposed on the wheels WLF, WRF, WLB, WRB, and the wheels WLF, WRF, WLB, WRB can be rotated by driving the wheel motor.

  Further, 13 is a steering wheel as an operation unit for steering the vehicle and as a steering member, 14 is an accelerator pedal as an operation unit for accelerating the vehicle and as an acceleration operation member, 15 A brake pedal as an operation unit for braking the vehicle and as a braking operation member.

  In the present embodiment, the vehicle includes a camber system for increasing running stability and turning stability. In the camber system, an actuator 31 serving as a camber variable mechanism is provided between the body 11 and the wheels WLB and WRB. , 32 are provided, and the actuators 31, 32 respectively apply camber to the wheels WLB, WRB and cancel the camber application. In the present embodiment, the actuators 31 and 32 are arranged between the body 11 and the wheels WLB and WRB. However, the actuator is arranged between the body 11 and the wheels WLF and WRF. An actuator can be disposed between the body 11 and the wheels WLF, WRF, WLB, WRB.

  By the way, the wheels WLF, WRF, WLB, and WRB include a wheel (not shown) formed of an aluminum alloy or the like, and a tire 36 that is fitted to the outer periphery of the wheel. As the tire 36, a low rolling resistance tire in which the rolling resistance generated by deformation of the tread of the tire 36 is reduced by reducing the loss tangent described later is used. In the present embodiment, the width of the tire 36 is made smaller than that of a normal tire in order to reduce the rolling resistance, but the tread pattern, which is a tread groove pattern, is shaped to reduce the rolling resistance, The material of at least the tread portion can be made to have a low rolling resistance.

  The loss tangent represents the degree of energy absorption when the tread is deformed, and can be represented by the ratio of the loss shear elastic modulus to the storage shear modulus. The smaller the loss tangent, the less energy is absorbed by the tread, so that the force to grip the road surface of the tire 36, that is, the gripping force is reduced, but the rolling resistance generated in the tire 36 is reduced. Less wear is generated. On the other hand, the greater the loss tangent, the greater the energy absorption by the tread, and the greater the gripping force. However, the rolling resistance generated in the tire 36 increases, and the wear generated in the tire 36 increases.

  In the vehicle having the above-described configuration, the rolling resistance of the tire 36 is reduced, so that the fuel consumption can be improved.

  Next, a camber system for giving camber to the wheels WLB and WRB and canceling the camber assignment will be described. In this case, since the structures of the actuators 31 and 32 are the same in the camber system, only the wheel WRB and the actuator 32 will be described.

  5 is a perspective view of the camber system according to the embodiment of the present invention, FIG. 6 is a front view of the camber system according to the embodiment of the present invention, and FIG. 7 is a plan view showing the main part of the camber system according to the embodiment of the present invention. FIG. 5 and 7, arrow A represents the front of the vehicle.

  In the figure, WRB is a wheel, 21 is a wheel, 30 is a suspension device, 32 is an actuator, 36 is a tire, 38 is a hub for holding the wheel WRB, 39 is a disc brake as a braking element, 43 is the wheel WRB, It is a movable plate (hub support member) as a movable member that supports the hub 38 and the disc brake 39 in a rotatable manner and can be swung.

  The suspension device 30 includes first and second suspension members 101 and 102 disposed on the body 11, and a bracket 103 as a unit support member attached between the first and second suspension members 101 and 102. The upper arm 104 as the first connecting member, the first lower arm 105 as the second connecting member, the second lower arm 106 as the third connecting member, the spring 107 as the biasing member, the shock absorber 108, the tray A ring arm 109 and the like are provided.

  The actuator 32 includes a motor 41 fixed to the bracket 103, the movable plate 43 disposed to be swingable with respect to the bracket 103, a speed reducer 44 for decelerating the rotation of the motor 41, The crank mechanism 45 is connected to the speed reducer 44 and is rotated by receiving the rotation decelerated by the speed reducer 44, the crank mechanism 45 and the movable plate 43 are connected, and the crank mechanism 45 is rotated. Rotation position when the upper arm 104 serving as a movement direction converting portion for converting the swinging movement of the movable plate 43 and the crankshaft 45a of the crank mechanism 45 (shown divided into two in FIG. 7) are rotated. And an angle sensor 77 for detecting a crank angle as a rotation angle.

  The speed reducer 44 is formed by a planetary gear mechanism, and includes a case 44a attached to the bracket 103, a ring gear 44R attached to the inner peripheral surface of the case 44a, and a first sun gear attached to the output shaft 41a of the motor 41. 44Sa, meshed with the ring gear 44R and the first sun gear 44Sa, and moved around the first sun gear 44Sa to be rotated, the first pinion 44Pa and the first pinion 44Pa being rotatable. A first pinion shaft 44b to be supported, a carrier 44CR which supports the first pinion shaft 44b and is rotated as the first pinion 44Pa moves around the first sun gear 44Sa, the carrier Second sun gear 44Sb attached to the center of rotation of 44CR, front A second pinion 44Pb meshed with the ring gear 44R and the second sun gear 44Sb, moved around the second sun gear 44Sb and rotated, and a second pinion shaft rotatably supporting the second pinion 44Pb. 44c, and an output member 44d that supports the second pinion shaft 44c and is rotated as the second pinion 44Pb moves around the second sun gear 44Sb.

  When the motor 41 is driven, the rotation output to the output shaft 41a is decelerated and transmitted to the carrier 44CR, and the rotation of the carrier 44CR is further decelerated and transmitted to the output member 44d.

  The crank mechanism 45 is attached to the output member 44d on the same axis as the output shaft 41a of the motor 41, and is rotatably supported by the bracket 103, and the crankshaft 45a A crankpin 45b that is eccentric and rotated about the crankshaft 45a is provided, and the crankpin 45b and the upper arm 104 are rotatably connected.

  Therefore, when the motor 41 is driven, the output member 44d is rotated, and accordingly, the crankshaft 45a is rotated within a predetermined angle range, the upper arm 104 is moved forward and backward, and the movable plate 43 is swung. As a result, a camber having a camber angle equal to the angle at which the movable plate 43 is tilted is imparted to the wheel WRB. The crank mechanism 45 and the upper arm 104 constitute a lever crank mechanism.

  Further, the first lower arm 105 is connected to the first suspension by a connecting shaft (not shown) disposed at a predetermined part of one end in the horizontal direction, in the present embodiment, the end portion on the center side of the body 11. The member 101 is rotatably connected to the other side in the horizontal direction, in the present embodiment, by a connecting shaft sh1 (camber shaft) disposed at a predetermined portion of the end of the body 11 on the wheel WRB side. The movable plate 43 is rotatably connected to the movable plate 43.

  The movable plate 43 is rotatably connected to the first lower arm 105 by the connecting shaft sh1 at one end in the vertical direction, in the present embodiment, at a predetermined portion at the lower end. On the other side, in the present embodiment, the upper arm 104 is rotatably connected by a connecting shaft sh2 disposed at a predetermined portion at the upper end. Therefore, the movable plate 43 is supported to be swingable with respect to the body 11 and the bracket 103.

  The spring 107 is connected to the body 11 via a first spring receiver 107a at the upper end and is connected to the first lower arm 105 via a second spring receiver (not shown) at the lower end.

  The shock absorber 108 is connected to the body 11 at the upper end and to the first lower arm 105 at the lower end.

  Further, the second lower arm 106 is connected to the first suspension member 101 by a connecting shaft sh3 disposed on one side in the horizontal direction, in the present embodiment, at a predetermined portion of the center side end of the body 11. The movable plate 43 is connected to the movable plate 43 by a connecting shaft sh4 disposed at a predetermined portion of the wheel WRB side end of the body 11 in the present embodiment. And can be connected freely. The second lower arm 106 functions as a toe control link that adjusts the toe angle during alignment.

  In the crank mechanism 45, the position of the crankshaft 45a when the crankpin 45b is placed at the first dead center as the first crank position and the initial position starts to give camber. Position, that is, the camber application start position and the position where camber application release is ended, ie, the camber release end position, and the crank pin 45b is placed at the second dead center as the second crank position. The position of the crankshaft 45a when set is set as a position where camber application ends, that is, as a camber application end position, and as a position where camber application cancellation starts, ie, as a camber release start position.

  The camber provision start position and camber release end position constitute a first camber position, and the camber provision end position and camber release start position constitute a second camber position.

  In the present embodiment, the first dead center is selected as the first crank position and the initial position, and the second dead center is selected as the second crank position. A position other than the first dead center can be selected as the first crank position and the initial position, and a position other than the second dead center can be selected as the second crank position.

  Next, the vehicle control apparatus having the above-described configuration will be described.

  FIG. 8 is a control block diagram of the vehicle in the embodiment of the present invention, and FIG. 9 is a relationship diagram between the crank angle and the camber angle in the embodiment of the present invention. In FIG. 9, the horizontal axis represents the crank angle CL, and the vertical axis represents the camber angle θ.

  In the figure, 16 is a control unit that controls camber granting and canceling granting, functions as a computer, and performs various operations and processes based on various data, 31 and 32 are actuators, 40 is A motor (ML) disposed in the actuator 31, 41 is the motor (MR) disposed in the actuator 32, 61 is a ROM as a first storage unit, and 62 is a RAM as a second storage unit. . The motors 40 and 41 are DC motors, and can be driven in the forward direction and the reverse direction. By driving the motors 40 and 41, cambers can be applied to the wheels WLB and WRB, and the camber can be released. can do. The motors 40 and 41 constitute first and second drive units.

  Further, 63 is a vehicle speed sensor as a vehicle speed detection unit for detecting the vehicle speed, 64 is a steering sensor as a steering detection unit for detecting the steering angle of the steering wheel 13 (FIG. 4), and 65 is a yaw rate detection for detecting the yaw rate of the vehicle. A yaw rate sensor as a part, 66 is a lateral acceleration sensor as a first acceleration detecting part for detecting lateral acceleration (lateral G), and 67 is a longitudinal acceleration as a second acceleration detecting part for detecting longitudinal acceleration (front and rear G). The sensor, 71 is the amount of depression of the accelerator pedal 14 by the driver as an operator, that is, an accelerator stroke sensor as an acceleration operation amount detection unit for detecting the accelerator stroke, 72 is the amount of depression of the brake pedal 15 by the driver, Brake stroke sensor as a braking operation amount detector that detects the brake stroke Is the difference.

  74 is a drive circuit for driving the motor 40, 75 is an angle sensor for detecting the crank angle CL of the crankshaft 45a (FIG. 7) in the actuator 31, 76 is a drive circuit for driving the motor 41, 77 Is an angle sensor for detecting the crank angle CL of the crankshaft 45a in the actuator 32. The angle sensor 75 constitutes a first angle detector, and the angle sensor 77 constitutes a second angle detector, and in this embodiment, magnetic non-contact type sensors are used as the angle sensors 75 and 77. Is done.

  In this case, when the crankshaft 45a is rotated between a camber application start position (camber release start position) and a camber application end position (camber release end position), the rotation sensor of the angle sensors 75 and 77 serves as a rotation detection element. The range in which the core (not shown) is rotated is the operating range of the angle sensors 75 and 77.

  The body 11, the control unit 16, the actuators 31, 32, the wheels WLB, WRB and the like constitute a camber system and a camber control device.

  When the motors 40 and 41 are respectively driven in the forward direction and the reverse direction to rotate the crankshaft 45a from the camber application start position to the camber application end position, camber can be applied to the wheels WLB and WRB. During this time, as shown in FIG. 9, the crank angle CL increases from 0 [°] to 180 [°], and accordingly, the camber angle θ of the camber applied to the wheels WLB and WRB also increases. The change rate δθ of the camber angle θ is gradually increased until the crank angle CL is changed from 0 ° to 90 ° which is the intermediate position, and the crank angle CL is changed from 90 ° to 180 °. Until it becomes small.

  Further, when the motors 40 and 41 are driven in the reverse direction and the forward direction, respectively, and the crankshaft 45a is rotated from the camber release start position to the camber release end position, the camber applied to the wheels WLB and WRB can be released. it can. During this time, the crank angle CL decreases from 180 [°] toward 0 [°], and accordingly, the camber angle θ of the camber applied to the wheels WLB and WRB also decreases. The change rate δθ of the camber angle θ is gradually increased until the crank angle CL is changed from 180 [°] to 90 [°], and until the crank angle CL is changed from 90 [°] to 0 [°]. , Gradually made smaller.

  The crank angle CL and the camber angle θ are recorded in advance in the ROM 61 as an angle map in correspondence with each other, and a camber angle calculation (detection) processing means (not shown) of the control unit 16 performs a camber angle calculation (detection) process. Referring to the angle map, the camber angle θ corresponding to the crank angle CL is read (detected). In the present embodiment, the camber angle θ is calculated based on the crank angle CL, but a predetermined sensor is provided as a camber angle detection unit, and the camber angle θ is directly detected by the sensor. Can do.

  In the vehicle having the above-described configuration, the camber control processing unit (not shown) of the control unit 16 performs camber control processing, and the amount of operation of the accelerator pedal 14, the brake pedal 15, the steering wheel 13, etc. by the driver, that is, the accelerator stroke sensor 71. The vehicle speed detected by the vehicle speed sensor 63, with the vehicle operation state such as the accelerator stroke detected by the brake stroke detected by the brake stroke sensor 72, the steering angle detected by the steering sensor 64, etc. as a first determination index, The vehicle running state such as the lateral acceleration detected by the lateral acceleration sensor 66, the longitudinal acceleration detected by the longitudinal acceleration sensor 67, and the yaw rate detected by the yaw rate sensor 65 is read as a second determination index. When a predetermined determination index among the two determination indices satisfies a certain condition, it is determined that the camber provision condition is satisfied, and a camber having a negative (negative) camber angle θ is imparted to the wheels WLB and WRB. To improve the running stability and turning stability.

  Then, when the predetermined determination index satisfies another certain condition, the camber control processing unit determines that the camber release condition is satisfied, and cancels the camber assignment on the wheels WLB and WRB.

Note that the camber angle θ of the camber given to the wheels WLB and WRB is set in advance for each vehicle, and the camber angle in a steady state is α.
−5 [°] ≦ θ <α [°]
To be.

  At this time, as the camber θ is applied to the wheels WLB and WRB, the canvas last is generated in a direction facing the tires 36 of the wheels WLB and WRB. Therefore, since the restoring force of the vehicle becomes large, even if a low rolling resistance tire is used as the tire 36, the running stability of the vehicle can be increased.

  Further, when the vehicle is turned leftward, since centrifugal force is generated in the vehicle, the ground contact load of the outer wheel WRB (outer wheel) becomes large, and the canvas last generated in the tire 36 of the wheel WRB is increased on the inner periphery side. It becomes larger than the canvas last generated in the tire 36 of the wheel WLB (inner ring). When the vehicle turns to the right, the ground contact load of the outer wheel WLB (outer wheel) increases, and the canvas last generated in the tire 36 of the wheel WLB becomes the tire 36 of the inner wheel WRB (inner wheel). It will be larger than the canvas last generated. Therefore, since sufficient centripetal force can be generated in the vehicle, even if a low rolling resistance tire is used as the tire 36, the turning stability of the vehicle can be increased.

  Next, the operation of the angle sensors 75 and 77 will be described.

  FIG. 10 is a plan view of an actuator for imparting camber to the left rear wheel in the embodiment of the present invention, and FIG. 11 is a plan view of the actuator for imparting camber to the right rear wheel in the embodiment of the present invention. FIG.

  In the figure, 40 and 41 are motors, 44 is a reduction gear, 44a is a case, 45 is a crank mechanism, 75 and 77 are angle sensors, 103 is a bracket, and 104 is an upper arm. An arrow A represents the front of the vehicle.

  The angle sensors 75 and 77 are connected to the cases 75a and 77a and the crankshaft 45a (FIG. 7), and the core disposed rotatably with respect to the cases 75a and 77a, and a pair attached to the core. Magnets not shown in the figure, hall elements not shown as fixed detection elements attached to the cases 75a and 77a, yokes not shown facing the hall elements across the magnets, and the like as the crankshaft 45a rotates. When the core is rotated, the output voltage of the Hall element changes linearly in proportion to the absolute angle (sensor angle) representing the position of the core. Therefore, the crank angle CL can be detected by reading the output voltage.

  When camber is applied to the wheels WLB, the motor 40 is driven in the forward direction (clockwise direction when viewed from the rear of the vehicle), and the core of the angle sensor 75 is reverse CCW (counterclockwise when viewed from the front of the vehicle). When the camber applied to the wheel WLB is released, the motor 40 is driven in the reverse direction (counterclockwise direction when viewed from the rear of the vehicle), and the core of the angle sensor 75 is normal. It is rotated in the direction CW (clockwise direction when viewed from the front of the vehicle). Further, when camber is applied to the wheel WRB, the motor 41 is driven in the reverse direction (counterclockwise direction when viewed from the rear of the vehicle), and the core of the angle sensor 77 is in the positive direction CW (viewed from the front of the vehicle). When the camber applied to the wheel WRB is released in the clockwise direction, the motor 41 is driven in the positive direction (clockwise as viewed from the rear of the vehicle), and the core of the angle sensor 77 is It is rotated in the reverse direction CCW (counterclockwise direction when viewed from the front of the vehicle). The angle sensors 75 and 77 have an insertion port for inserting the axial center portion of the crankshaft 45a on the surface facing the crankshaft 45a so that rotation is input from the surface facing the crankshaft 45a. Therefore, the rotation direction of the core is viewed from the front of the vehicle.

  By the way, when the camber system is manufactured, for example, when the detectable range of the crank angle CL in the angle sensors 75 and 77 is set to an absolute angle of 0 [°] to 360 [°], the camber application start position ( When the angle sensors 75 and 77 are to be attached to the crank mechanism 45 so that the operating range of the angle sensors 75 and 77 from the camber release start position to the camber application end position (camber release end position) is within the detectable range. The work for that is troublesome.

  Therefore, in the present embodiment, the detectable range of the crank angle CL in the angle sensors 75 and 77 is not set, and the operating range of the angle sensors 75 and 77 is extended over the absolute angles 0 [°] and 360 [°]. You can set it again.

  Next, the operating range of the angle sensors 75 and 77 will be described. In this case, the operation of the control unit 16 when setting the operating range of the angle sensor 77 will be described.

  FIG. 1 is a diagram showing an example of the operating range of the angle sensor in the embodiment of the present invention. In the figure, the horizontal axis represents the absolute angle K of the angle sensor 77, and the vertical axis represents the output voltage v of the angle sensor 77.

  In the figure, Ps is a camber grant start position and a camber release end position, and Pe is a camber grant end position and a camber release start position.

  In the angle sensor 77, the core position at which the output voltage v when the core is rotated becomes the minimum value va is 0 [°] at the absolute angle K, and the core position at which the output voltage v is the maximum value vb is absolute. When the angle K is set to 360 ° and the core position is changed, the output voltage v changes in proportion to the absolute angle K of the core position.

  An angle sensor 77 is attached at an arbitrary attachment position in the rotational direction to the crank mechanism 45 in which the crank pin 45b is placed at the first dead center, and an operating range of the angle sensor 77 is set.

  Therefore, first, when the angle sensor 77 is attached to the crank mechanism 45, the position of the core for starting the drive of the motor 41 at the camber application start position Ps is detected by the angle sensor 77 and read as the initial angle. Is set as the initial value Ks.

  Subsequently, the core position for stopping the drive of the motor 41 at the camber application end position Pe is a predetermined angle for setting the operating range to the initial value Ks, that is, the operating range setting angle (addition value). In the present embodiment, the target achievement angle Ke is calculated by adding 180 [°]. The operating range setting angle is recorded in the RAM 62 in advance.

For example, as shown in FIG. 1, when the initial value Ks is 225 [°] in absolute angle K, the target achievement angle Ke can be calculated by adding 180 [°] to 225 [°]. Although the calculated value, that is, the provisional target achievement angle Ke ′ is
Ke '= 225 + 180
= 405 [°]
become. In this case, since the provisional target achievement angle Ke ′ is larger than 360 °, the provisional target achievement angle Ke ′ is corrected, and the target achievement angle Ke is
Ke = 405-360
= 45 [°]
become. When the provisional target achievement angle Ke ′ is 360 ° or less, the provisional target achievement angle Ke ′ becomes the target achievement angle Ke.

  The initial value Ks is set to 0 [°] as the relative angle Kr of the crankshaft 45a with respect to the angle sensor 77, the target achievement angle Ke is set to 180 [°] as the relative angle Kr, and the camber application start position Ps. And the camber application end position Pe, the operating range of the angle sensor 77 is set. In this case, since the provisional target achievement angle Ke 'is larger than 360 [°], the operating range of the angle sensor 77 is set across 0 [°] and 360 [°] of the absolute angle K.

Therefore, the relative angle Kr is determined by the angle sensor 77.
0 [°] ≦ Kr ≦ 180 [°]
The crank angle CL can be detected in the operating range that takes the value of.

  The initial value Ks is an angle for starting to give camber to the wheel WRB, and the target achievement angle Ke is an angle for finishing giving camber to the wheel WRB. In the present embodiment, the current angle Kp is set as the initial value Ks. However, a predetermined angle (adjustment value) is added to the current angle Kp, or a predetermined angle from the current angle Kp. The initial value Ks can be set by subtracting (adjustment value).

  By the way, in the present embodiment, when camber is applied to the wheel WRB, the motor 41 is driven in the reverse direction, and the crankshaft 45a is rotated in the reverse direction from the camber application start position Ps to the camber application end position Pe. When canceling the camber applied to the wheel WRB, the motor 41 is driven in the forward direction, and the crankshaft 45a is rotated in the forward direction from the camber application end position Pe to the camber application start position Ps. However, when the camber is applied to the wheel WRB, the motor 41 is driven in the forward direction, the crankshaft 45a is rotated in the forward direction, and the camber applied to the wheel WRB is released in the reverse direction. It can also be driven to rotate the crankshaft 45a in the reverse direction.

That is, in the present embodiment, the crank angle CL can be detected even outside the set operating range. Therefore, outside the operating range, a predetermined position between the initial value Ks and the target achievement angle Ke, in the present embodiment, an intermediate angle Km representing an intermediate position.
Km = 90 [°]
Is recorded in the RAM 62, and based on the intermediate angle Km, a sign boundary angle Kc serving as a positive / negative boundary in the relative angle Kr is set.

In this case, the provisional code boundary angle Kc ′ based on the target achievement angle Ke and the intermediate angle Km.
Kc '= Ke + Km
= Ks + Km + 180 [°]
However, if the provisional code boundary angle Kc ′ is larger than 360 °, the provisional code boundary angle Kc is corrected, and the code boundary angle Kc is
Kc = Kc'-360 [°]
become. When the temporary code boundary angle Kc ′ is 360 ° or less, the temporary code boundary angle Kc ′ becomes the code boundary angle Kc.

By the way, the sign boundary angle Kc is located outside the operating range at a position 90 [deg.] Away from the initial value Ks in the negative direction and 270 [deg.] Away from the target achievement angle Ke in the positive direction.
Kc = -90, 270 [°]
Is set, the code boundary angle Kc is formed overlappingly.

Therefore, one of −90 and 270 [°], in the present embodiment, −90 [°] is varied according to the resolution of the angle sensor 77, and the code boundary angle Kc is changed.
Kc = -89, 270 [°]
Is set.

Therefore, the relative angle Kr is determined by the angle sensor 77.
−89 [°] ≦ Kr <0 [°]
Negative value and 180 [°] <Kr ≦ 270 [°]
The crank angle CL can be detected outside the operating range of the angle sensor 77 taking a positive value. In this case, the sign boundary angle Kc according to the resolution of the absolute angle K detected by the angle sensor 77.
Kc = -90, 269 [°]
Can also be set.

  Next, a method of setting the operating range of the angle sensor 77 and detecting the crank angle CL as the relative angle Kr based on the current angle Kp detected by the angle sensor 77 within the operating range and outside the operating range will be described. To do.

  FIG. 12 is a first diagram for explaining the operating range of the angle sensor in the embodiment of the present invention, FIG. 13 is a second diagram for explaining the operating range of the angle sensor in the embodiment of the present invention, FIG. 14 is a third diagram for explaining the operating range of the angle sensor in the embodiment of the present invention, FIG. 15 is a fourth diagram for explaining the operating range of the angle sensor in the embodiment of the present invention, 16 is a fifth diagram for explaining the operating range of the angle sensor in the embodiment of the present invention, and FIG. 17 is a sixth diagram for explaining the operating range of the angle sensor in the embodiment of the present invention. is there.

  FIG. 12 shows that the current angle Kp detected by the angle sensor 77 is absolute when the motor 41 is driven in the reverse direction, the core of the angle sensor 77 is rotated in the forward direction CW, and the sensor detection direction is the forward direction. An example in which the angle K is 225 [°] is shown. In this case, the initial value Ks is 225 [°] in absolute angle K, the target achievement angle Ke is 45 [°], and the operating range of the angle sensor 77 extends over 360 [°]. The sign boundary angle Kc is 135 [°] in absolute angle K and exceeds 360 [°].

In this case, as shown in Table 1, the current angle Kp is
0 [°] ≦ Kp ≦ Kc
In the first area AR1 that satisfies the following condition, when the current angle Kp is represented by the relative angle Kr, the relative angle Kr is
Kr = Kp + (360 [°] -Ks)
And the current angle Kp is
Ks ≦ Kp ≦ 360 [°]
In the second area AR2 that satisfies the condition, if the current angle Kp is represented by the relative angle Kr, the relative angle Kr is:
Kr = Kp-Ks
And the current angle Kp is
Kc <Kp <Ks
In the third area AR3 that satisfies the following condition, if the current angle Kp is represented by the relative angle Kr, the relative angle Kr is:
Kr = Kp-Ks
become.

  FIG. 13 shows an example in which the current angle Kp detected by the angle sensor 77 is 45 [°] as the absolute angle K when the sensor detection direction is the positive direction. In this case, the initial value Ks is 45 [°] in absolute angle K, the target achievement angle Ke is 225 [°], and the operating range of the angle sensor 77 does not cross 360 [°]. The sign boundary angle Kc is 315 [°] in absolute angle K and does not exceed 360 [°].

In this case, as shown in Table 2, the current angle Kp is
0 [°] ≦ Kp ≦ Ks
In the first area AR1 that satisfies the following condition, when the current angle Kp is represented by the relative angle Kr, the relative angle Kr is
Kr = Kp-Ks
And the current angle Kp is
Kc ≦ Kp ≦ 360 [°]
In the second area AR2 that satisfies the condition, if the current angle Kp is represented by the relative angle Kr, the relative angle Kr is:
Kr = (Kp-360 [°])-Ks
And the current angle Kp is
Ks <Kp <Kc
In the third area AR3 that satisfies the following condition, if the current angle Kp is represented by the relative angle Kr, the relative angle Kr is:
Kr = Kp-Ks
become.

  FIG. 14 shows an example in which the current angle Kp detected by the angle sensor 77 is an absolute angle K of 135 [°] when the sensor detection direction is the positive direction. In this case, the initial value Ks is 135 [°] in absolute angle K, the target achievement angle Ke is 315 [°], and the operating range of the angle sensor 77 does not cross 360 [°]. The sign boundary angle Kc is 45 [°] in absolute angle K and exceeds 360 [°].

In this case, as shown in Table 3, the current angle Kp is
Ks ≦ Kp ≦ 360 [°]
In the first area AR1 that satisfies the following condition, when the current angle Kp is represented by the relative angle Kr, the relative angle Kr is
Kr = Kp-Ks
And the current angle Kp is
0 [°] ≦ Kp ≦ Kc
In the second area AR2 that satisfies the condition, if the current angle Kp is represented by the relative angle Kr, the relative angle Kr is:
Kr = Kp + (360 [°] -Ks)
And the current angle Kp is
Kc <Kp <Ks
In the third area AR3 that satisfies the following condition, if the current angle Kp is represented by the relative angle Kr, the relative angle Kr is:
Kr = Kp-Ks
become.

  FIG. 15 shows that the current angle Kp detected by the angle sensor 77 is absolute when the motor 41 is driven in the forward direction, the core of the angle sensor 77 is rotated in the reverse direction CCW, and the sensor detection direction is the reverse direction. An example in which the angle K is 45 [°] is shown. In this case, the initial value Ks is 45 ° in absolute angle K, the target achievement angle Ke is 225 °, and the operating range of the angle sensor 77 is over 360 °. The sign boundary angle Kc is 135 [°] in absolute angle K and does not exceed 0 [°].

In this case, as shown in Table 4, the current angle Kp is
0 [°] ≦ Kp ≦ Ks
In the first area AR1 that satisfies the following condition, when the current angle Kp is represented by the relative angle Kr, the relative angle Kr is
Kr = Ks−Kp
And the current angle Kp is
Kc ≦ Kp ≦ 360 [°]
In the second area AR2 that satisfies the condition, if the current angle Kp is represented by the relative angle Kr, the relative angle Kr is:
Kr = Ks + (360 [°] −Kp)
And the current angle Kp is
Ks <Kp <Kc
In the third area AR3 that satisfies the following condition, if the current angle Kp is represented by the relative angle Kr, the relative angle Kr is:
Kr = Ks−Kp
become.

  FIG. 16 shows an example in which the current angle Kp detected by the angle sensor 77 is 315 [°] as the absolute angle K when the sensor detection direction is the reverse direction. In this case, the initial value Ks is 315 [°] in absolute angle K, the target achievement angle Ke is 135 [°], and the operating range of the angle sensor 77 does not cross 360 [°]. The sign boundary angle Kc is 45 [°] in absolute angle K and does not exceed 0 [°].

In this case, as shown in Table 5, the current angle Kp is
Ks ≦ Kp ≦ 360 [°]
In the first area AR1 that satisfies the following condition, when the current angle Kp is represented by the relative angle Kr, the relative angle Kr is
Kr = Ks−Kp
And the current angle Kp is
0 [°] ≦ Kp ≦ Kc
In the second area AR2 that satisfies the condition, if the current angle Kp is represented by the relative angle Kr, the relative angle Kr is:
Kr = (Ks−360 [°]) − Kp
And the current angle Kp is
Kc <Kp <Ks
In the third area AR3 that satisfies the following condition, if the current angle Kp is represented by the relative angle Kr, the relative angle Kr is:
Kr = Ks−Kp
become.

  FIG. 17 shows an example in which the current angle Kp detected by the angle sensor 77 is 225 [°] as an absolute angle when the sensor detection direction is the reverse direction. In this case, the initial value Ks is 225 [°] in absolute angle K, the target achievement angle Ke is 45 [°], and the operating range of the angle sensor 77 does not cross 360 [°]. The sign boundary angle Kc is 315 [°] in absolute angle K and exceeds 0 [°].

In this case, as shown in Table 6, the current angle Kp is
0 [°] ≦ Kp ≦ Ks
In the first area AR1 that satisfies the following condition, when the current angle Kp is represented by the relative angle Kr, the relative angle Kr is
Kr = Ks−Kp
And the current angle Kp is
Kc ≦ Kp ≦ 360 [°]
In the second area AR2 that satisfies the condition, if the current angle Kp is represented by the relative angle Kr, the relative angle Kr is:
Kr = Ks + (360 [°] −Kp)
And the current angle Kp is
Ks <Kp <Kc
In the third area AR3 that satisfies the following condition, if the current angle Kp is represented by the relative angle Kr, the relative angle Kr is:
Kr = Ks−Kp
become.

  Next, the operation of the control unit 16 when the crank angle CL is detected as the relative angle Kr based on the current angle Kp detected by the angle sensor 77 will be described.

  FIG. 18 is a main flowchart showing the operation of the control unit in the embodiment of the present invention.

  First, an operating range setting processing unit (not shown) of the control unit 16 performs an operating range setting process to set the operating range of the angle sensor 77 (step S1). Therefore, the initial angle acquisition processing means of the operating range setting processing means performs the initial angle acquisition processing and is detected by the angle sensor 77 in a state where the crank pin 45b (FIG. 7) is placed at the first dead center. The absolute angle K is read (obtained) as the initial angle.

  Subsequently, the initial value setting processing means of the operating range setting processing means performs initial value setting processing, sets the initial angle as the initial value Ks, and records it in the RAM 62.

The target achievement angle calculation processing means of the operating range setting processing means performs target achievement angle calculation processing, reads the initial value Ks and the operating range setting angle from the RAM 62, and sets the target based on the initial value Ks and the operating range setting angle. The achievement angle Ke is calculated and set. When the sensor detection direction is the positive direction, the target achievement angle Ke is
Ke = Ks + 180 [°]
When the sensor detection direction is the reverse direction,
Ke = Ks−180 [°]
become. When the provisional target achievement angle Ke ′ is larger than 360 [°] or smaller than 0 [°], the target achievement angle calculation processing means corrects the provisional target achievement angle Ke ′ and sets the target achievement angle Ke. Is calculated.

  The initial value setting processing means and the target achievement angle calculation processing means constitute angle setting processing means, and the angle setting processing means performs angle setting processing to set the initial value Ks and the target achievement angle Ke.

Next, a code boundary angle setting processing unit (not shown) of the control unit 16 performs a code boundary angle setting process, reads the target achievement angle Ke and the intermediate angle Km from the RAM 62, and reads the code boundary angle Kc.
Kc = -89, 270 [°]
Is set (step S2).

  Subsequently, drive start processing means (not shown) of the control unit 16 performs drive start processing, starts driving the motor 41, and rotates the crankshaft 45a.

  The current angle acquisition processing means (not shown) of the control unit 16 performs current angle acquisition processing, and detects and acquires the crank angle CL of the crankshaft 45a being rotated as the current angle Kp by the angle sensor 77. And recorded in the RAM 62 (step S3).

  In this case, when the current angle Kp detected by the angle sensor 77 is 0 [°], it cannot be distinguished from 360 [°]. Therefore, the boundary determination processing means of the current angle acquisition processing means performs the boundary determination processing. It is determined whether the current angle Kp is the absolute angle K and is on the 0 [°] side or the 360 [°] side. Therefore, the boundary determination processing means reads a plurality of current angles Kp when the absolute angle K approaches 0 [°] or 360 [°] and falls within a predetermined range as the core rotates, and 0 The number of data of the current angle Kp on the [°] side is compared with the number of data of the current angle Kp on the 360 [°] side, and the larger number of data is adopted.

  Subsequently, a sensor detection direction determination processing unit (not shown) of the control unit 16 performs a sensor detection direction determination process to determine whether the sensor detection direction is the positive direction (step S4), and the sensor detection direction is the positive direction. If there is, the positive direction relative angle calculation processing means (not shown) of the control unit 16 performs the positive direction relative angle calculation processing, calculates the relative angle Kr when the sensor detection direction is the positive direction (step S5), and detects the sensor. If the direction is not the forward direction, it is determined whether or not the sensor detection direction is the reverse direction (step S6), and if the sensor detection direction is the reverse direction, the reverse relative angle calculation processing means (not shown) of the control unit 16 is A reverse relative angle calculation process is performed to calculate a relative angle Kr when the sensor detection direction is the reverse direction (step S7). When the sensor detection direction is not the reverse direction, To terminate the management.

  Next, the operation of the code boundary angle setting processing means will be described.

  FIG. 19 is a first diagram showing a code boundary angle setting process subroutine in the embodiment of the present invention, and FIG. 20 is a second diagram showing a code boundary angle setting process subroutine in the embodiment of the present invention.

First, the intermediate angle setting processing means of the code boundary angle setting processing means performs an intermediate angle setting process to obtain an intermediate angle Km.
Km = 90 [°]
Is set (step S2-1).

Subsequently, the sensor detection direction determination processing means of the code boundary angle setting processing means performs sensor detection direction determination processing to determine whether the sensor detection direction is a positive direction (step S2-2), and the sensor detection direction. Is a positive direction, the temporary code boundary angle calculation processing means of the code boundary angle setting processing means performs a temporary code boundary angle calculation process, and based on the initial value Ks and the intermediate angle Km, the temporary code boundary angle Kc ′.
Kc ′ = Ks + Km + 180 [°]
Is calculated (step S2-3), and the provisional code boundary angle determination processing means of the code boundary angle setting processing means performs provisional code boundary angle determination processing to determine whether the provisional code boundary angle Kc ′ is greater than 360 °. It is determined whether or not (step S2-4).

When the temporary code boundary angle Kc ′ is larger than 360 °, the code boundary angle determination processing unit of the code boundary angle setting processing unit performs code boundary angle determination processing, corrects the temporary code boundary angle Kc ′, The boundary angle Kc is set to Kc = Kc′−360 [°]
(Step S2-5), recording in the RAM 62, turning on the boundary over flag (step S2-6), and when the provisional code boundary angle Kc ′ is 360 ° or less, the code boundary angle determination process The means sets the provisional code boundary angle Kc ′ as the code boundary angle Kc (step S2-7), records it in the RAM 62, and turns off the boundary over flag (step S2-8).

  The boundary over flag indicates whether the code boundary angle Kc exceeds 360 [°]. When the code boundary angle Kc exceeds 360 [°], the boundary over flag is turned on.

In the sensor detection direction determination process, when it is determined that the sensor detection direction is a positive direction and not a positive direction, the sensor detection direction determination processing means determines whether the sensor detection direction is a reverse direction (step S2- 9) When the sensor detection direction is the reverse direction, the provisional code boundary angle calculation processing means determines the provisional code boundary angle Kc ′ based on the initial value Ks and the intermediate angle Km.
Kc ′ = Ks−Km−180 [°]
Is calculated (step S2-10), and the provisional code boundary angle determination processing means determines whether or not the temporary code boundary angle Kc ′ is smaller than 0 [°] (step S2-11).

When the temporary code boundary angle Kc ′ is smaller than 0 [°], the code boundary angle determination processing unit corrects the temporary code boundary angle Kc ′ and sets the code boundary angle Kc as Kc = Kc ′ + 360 [°].
(Step S2-12), the boundary over flag is turned on (step S2-13), and when the temporary code boundary angle Kc ′ is equal to or larger than 0 °, the code boundary angle determination processing means The angle Kc ′ is set as the code boundary angle Kc (step S2-14), and the boundary over flag is turned off (step S2-15).

  Next, the positive direction relative angle calculation process will be described.

  FIG. 21 is a first diagram showing a subroutine of positive relative angle calculation processing in the embodiment of the present invention. FIG. 22 is a second diagram showing a subroutine of positive relative angle calculation processing in the embodiment of the present invention. FIG. 23 is a third diagram showing a subroutine of positive direction relative angle calculation processing in the embodiment of the present invention.

  First, the angle acquisition processing means of the positive relative angle calculation processing means performs angle acquisition processing, and reads and acquires the current angle Kp, the initial value Ks, the target achievement angle Ke, and the code boundary angle Kc from the RAM 62 (step S5- 1).

Subsequently, the straddling determination processing means of the positive direction relative angle calculation processing means performs straddling determination processing, and the operating range of the angle sensor 77 is 360 [°] depending on whether the target achievement angle Ke is larger than 360 [°]. If the target achievement angle Ke is larger than 360 [°] and the operating range of the angle sensor 77 is over 360 [°], the positive relative angle calculation processing means The area determination processing means performs area determination processing, and the current angle Kp is
0 [°] ≦ Kp ≦ Kc
12 is satisfied (step S5-3). If the current angle Kp is present in the first area AR1, the positive relative angle calculation process is performed. The relative angle calculation processing means as the rotation angle calculation processing means performs a relative angle calculation process as the rotation angle calculation process, and based on the current angle Kp, the relative angle Kr with respect to the operating range of the crank angle CL.
Kr = Kp + (360 [°] -Ks)
Is calculated (step S5-4).

When the current angle Kp does not exist in the first area AR1, the area determination processing unit determines that the current angle Kp is
Ks ≦ Kp ≦ 360 [°]
12 is satisfied (step S5-5). If the current angle Kp exists in the second area AR2, the relative angle calculation processing means , Relative angle Kr
Kr = Kp-Ks
Is calculated (step S5-6).

The current angle Kp does not exist in the second area AR2,
Kc <Kp <Ks
12 is satisfied within the third area AR3 in FIG. 12, the relative angle calculation processing means
Kr = Kp-Ks
Is calculated (step S5-7).

Further, in the stride determination process, when it is determined that the target achievement angle Ke is 360 ° or less and the operating range of the angle sensor 77 does not cross 360 °, the positive relative angle calculation processing means. The boundary over flag determination processing means performs boundary over flag determination processing, and determines whether the code boundary angle Kc does not exceed 360 [°] depending on whether the boundary over flag is off (step S5-8). ), When the boundary over flag is off and the code boundary angle Kc does not exceed 360 [°], the area determination processing means determines that the current angle Kp is
0 [°] ≦ Kp ≦ Ks
13 is satisfied (step S5-9). If the current angle Kp exists in the first area AR1, the relative angle calculation processing means , Relative angle Kr
Kr = Kp-Ks
Is calculated (step S5-10).

When the current angle Kp does not exist in the first area AR1, the area determination processing unit determines that the current angle Kp is
Kc ≦ Kp ≦ 360 [°]
13 is satisfied (step S5-11). If the current angle Kp is present in the second area AR2, the relative angle calculation processing means is determined. Is the relative angle Kr
Kr = (Kp-360 [°])-Ks
Is calculated (step S5-12).

The current angle Kp does not exist in the second area AR2,
Ks <Kp <Kc
Is present in the third area AR3 in FIG. 13, the relative angle calculation processing means performs the relative angle Kr.
Kr = Kp-Ks
Is calculated (step S5-13).

In the boundary over flag determination process, when it is determined that the boundary over flag is on and the code boundary angle Kc exceeds 360 [°], the region determination processing means determines that the current angle Kp is
Ks ≦ Kp ≦ 360 [°]
14 is satisfied (step S5-14). If the current angle Kp exists in the first area AR1, the relative angle calculation processing means , Relative angle Kr
Kr = Kp-Ks
Is calculated (step S5-15).

When the current angle Kp does not exist in the first area AR1, the area determination processing unit determines that the current angle Kp is
0 [°] ≦ Kp ≦ Kc
14 is satisfied (step S5-16). If the current angle Kp exists in the second area AR2, the relative angle calculation processing means , Relative angle Kr
Kr = Kp + (360 [°] -Ks)
Is calculated (step S5-17).

Further, the current angle Kp does not exist in the second area AR2,
Kc <Kp <Ks
14 exists in the third area AR3 in FIG. 14 that satisfies the above condition, the relative angle calculation processing means executes the relative angle Kr.
Kr = Kp-Ks
Is calculated (step S5-18).

  Next, the reverse relative angle calculation process will be described.

  FIG. 24 is a first diagram showing a subroutine of reverse relative angle calculation processing in the embodiment of the present invention, and FIG. 25 is a second diagram showing a subroutine of reverse relative angle calculation processing in the embodiment of the present invention. FIG. 26 is a third diagram showing a subroutine of reverse direction relative angle calculation processing in the embodiment of the present invention.

  First, the angle acquisition processing means of the reverse relative angle calculation processing means performs angle acquisition processing, reads out and acquires the current angle Kp, the initial value Ks, the target achievement angle Ke, and the code boundary angle Kc from the RAM 62 (step S7- 1).

Subsequently, the straddling determination processing means of the reverse relative angle calculation processing means performs straddling determination processing, and the operating range of the angle sensor 77 is 0 [°] depending on whether or not the target achievement angle Ke is smaller than 0 [°]. If the target achievement angle Ke is smaller than 0 [°] and the operating range of the angle sensor 77 crosses 0 [°], the reverse relative angle calculation processing means The area determination processing means performs area determination processing, and the current angle Kp is
0 [°] ≦ Kp ≦ Ks
15 is satisfied (step S7-3). If the current angle Kp is present in the first area AR1, the reverse relative angle calculation process is performed. The relative angle calculation processing means as the rotation angle calculation processing means of the means performs the relative angle calculation processing as the rotation angle calculation processing, and the relative angle Kr
Kr = Ks−Kp
Is calculated (step S7-4).

When the current angle Kp does not exist in the first area AR1, the area determination processing unit determines that the current angle Kp is
Kc ≦ Kp ≦ 360 [°]
15 is satisfied (step S7-5). If the current angle Kp exists in the second area AR2, the relative angle calculation processing means , Relative angle Kr
Kr = Ks + (360 [°] −Kp)
Is calculated (step S7-6).

Further, the current angle Kp does not exist in the second area AR2,
Ks <Kp <Kc
15 exists in the third area AR3 of FIG. 15 that satisfies the condition, the relative angle calculation processing means performs the relative angle Kr.
Kr = Ks−Kp
Is calculated (step S7-7).

Next, in the crossing determination process, when it is determined that the target achievement angle Ke is 0 [°] or more and the operating range of the angle sensor 77 does not cross 0 [°], the reverse relative angle calculation process is performed. The boundary over flag determination processing means performs a boundary over flag determination process to determine whether the code boundary angle Kc does not exceed 0 [°] depending on whether the boundary over flag is off (step S7- 8) When the boundary over flag is off and the code boundary angle Kc does not exceed 0 [°], the region determination processing means determines that the current angle Kp is
Ks ≦ Kp ≦ 360 [°]
16 is satisfied (step S7-9). If the current angle Kp exists in the first area AR1, the relative angle calculation processing means , Relative angle Kr
Kr = Ks−Kp
Is calculated (step S7-10).

When the current angle Kp does not exist in the first area AR1, the area determination processing unit determines that the current angle Kp is
0 [°] ≦ Kp ≦ Kc
16 is satisfied (step S7-11), and if the current angle Kp exists in the second area AR2, the relative angle calculation processing means , Relative angle Kr
Kr = (Ks−360 [°]) − Kp
Is calculated (step S7-12).

Further, the current angle Kp does not exist in the second area AR2,
Kc <Kp <Ks
16 is satisfied in the third area AR3 in FIG. 16, the relative angle calculation processing means
Kr = Ks−Kp
Is calculated (step S7-13).

In the boundary over flag determination process, when it is determined that the boundary over flag is on and the code boundary angle Kc exceeds 0 [°], the region determination processing unit determines that the current angle Kp is
0 [°] ≦ Kp ≦ Ks
17 is satisfied (step S7-14). If the current angle Kp exists in the first area AR1, the relative angle calculation processing means , Relative angle Kr
Kr = Ks−Kp
Is calculated (step S7-15).

When the current angle Kp does not exist in the first area AR1, the area determination processing unit determines that the current angle Kp is
Kc ≦ Kp ≦ 360 [°]
17 is satisfied (step S7-16). If the current angle Kp exists in the second area AR2, the relative angle calculation processing means , Relative angle Kr
Kr = Ks + (360 [°] −Kp)
Is calculated (step S7-17).

The current angle Kp does not exist in the second area AR2,
Ks <Kp <Kc
17 exists in the third area AR3 in FIG. 17 that satisfies the condition (2), the relative angle calculation processing means performs the relative angle Kr.
Kr = Ks−Kp
Is calculated (step S7-18).

  Thus, in the present embodiment, the initial value Ks and the target achievement angle Ke are set based on the current angle Kp detected by the angle sensor 77, and the angle sensor is based on the initial value Ks and the target achievement angle Ke. 77 is set, and the crank angle CL of the crank mechanism 45 is calculated as a relative angle Kr with respect to the operating range of the angle sensor 77 based on the current angle Kp. Even if the crank mechanism 45 is attached at the position, the crank angle CL of the crank mechanism 45 can be reliably detected by the relative angle Kr. Therefore, the operation for attaching the angle sensor 77 to the crank mechanism 45 can be simplified.

  In the above embodiment, the operation of the control unit 16 when setting the operating range of the angle sensor 77 has been described, but the operating range of the angle sensor 75 is similarly set. In that case, the drive direction of the motor 40 is opposite to the drive direction of the motor 41, and the rotation direction of the core in the angle sensor 75 is opposite to the rotation direction of the core in the angle sensor 77.

  In addition, this invention is not limited to the said embodiment, It can change variously based on the meaning of this invention, and does not exclude them from the scope of the present invention.

11 Body 16 Control unit 31, 32 Actuator 40, 41 Motor 45 Crank mechanism 75, 77 Angle sensor CL Crank angle Kp Current angle Kr Relative angle Ks Initial value WLF, WRF, WLB, WRB Wheel

Claims (3)

The body of the vehicle,
A plurality of wheels arranged rotatably with respect to the body;
A rotating body that is arranged to apply camber to a predetermined wheel of the wheels and to release the camber, and is rotated within a predetermined angle range when the driving unit is driven. And a camber variable mechanism that is attached to the rotating body at an arbitrary mounting position in the rotation direction and includes an angle detection unit that detects a rotation angle of the rotating body;
When said rotary member is an angle detected by the angle detection unit in a state of being placed in the initial position as an initial value of the rotation body, to impart a camber to the predetermined wheel to release the application of camber, the angular An operating range setting processing means for setting an angle detected by the detection unit as a target achievement angle of the rotating body and setting an interval between the initial value and the target achievement angle as an operation range of the angle detection unit;
Sign boundary angle setting processing means for setting a sign boundary angle that is a positive / negative boundary when the initial value and the target achievement angle are expressed as relative angles outside the operating range;
The current angle rotating body is detected by the angle detection unit in a state being rotated, on the basis of the initial value and the code boundary angle, the rotation angle calculation processing means for calculating a rotation angle of the rotating body relative angle A camber system characterized by comprising: The body of the vehicle,
A plurality of wheels arranged rotatably with respect to the body;
A rotating body that is arranged to apply camber to a predetermined wheel of the wheels and to release the camber, and is rotated within a predetermined angle range when the driving unit is driven. And a camber variable mechanism that is attached to the rotating body at an arbitrary mounting position in the rotation direction and includes an angle detection unit that detects a rotation angle of the rotating body;
An angle detected by the angle detection unit in a state where the rotating body is placed at an initial position is set as an initial value of the rotating body, a camber is applied to the predetermined wheel based on the initial value, and camber is applied. Working range setting processing means for setting the working range of the angle detection unit when releasing,
A rotation angle calculation processing means for calculating a rotation angle of the rotating body as a relative angle with respect to an operating range based on a current angle detected by the angle detection unit in a state where the rotating body is rotated;
The operating range setting processing unit, the provisional goal angle calculated based on the initial value is greater than 360 [°] or 0 [°] if smaller, by correcting the temporary target achievement angle target A camber system, wherein an achievement angle is set, and the operating range is set between an initial value and a target achievement angle . Before SL rotator is a crank mechanism,
The camber variable mechanism is attached to the crank mechanism at an arbitrary attachment position in the rotation direction by detecting the rotation angle of the crank shaft of the crank mechanism, and the crank mechanism that is rotated as the drive unit is driven. The camber system of Claim 1 or 2 provided with the angle detection part to do.

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