JPH03178880A - Rear wheel steering device of vehicle - Google Patents
Rear wheel steering device of vehicleInfo
- Publication number
- JPH03178880A JPH03178880A JP31707689A JP31707689A JPH03178880A JP H03178880 A JPH03178880 A JP H03178880A JP 31707689 A JP31707689 A JP 31707689A JP 31707689 A JP31707689 A JP 31707689A JP H03178880 A JPH03178880 A JP H03178880A
- Authority
- JP
- Japan
- Prior art keywords
- vehicle
- acceleration
- rear wheel
- toe
- steering
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000001133 acceleration Effects 0.000 claims abstract description 25
- 230000007246 mechanism Effects 0.000 description 14
- 238000010586 diagram Methods 0.000 description 4
- 238000006073 displacement reaction Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000001010 compromised effect Effects 0.000 description 1
- 230000000994 depressogenic effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
Landscapes
- Steering Control In Accordance With Driving Conditions (AREA)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
- Body Structure For Vehicles (AREA)
Abstract
Description
【発明の詳細な説明】 (産業上の利用分野) 本発明は、車両の後輪操舵装置に関する。[Detailed description of the invention] (Industrial application field) The present invention relates to a rear wheel steering device for a vehicle.
(従来技術)
車両の低速時での旋回性能の向上、あるいは高速時での
走行安定性の向上を実現するための操舵装置として後輪
操舵装置が知られている。後輪操舵装置は、車両の走行
状態に応じて、後輪を前・論と逆位相又は同位相に転舵
し、あるいは、後輪をトーイン方向又はトーアウト方向
に転舵して、前述の所期目的を達成せんとするものであ
り、例えば、特開昭60−193780号公報には車速
の増大に応じて後輪のトー角をトーイン方向に変更制御
し、広範囲の車速に亘る車両の走行安定性の向上を図っ
た後輪操舵装置が開示されている。(Prior Art) A rear wheel steering device is known as a steering device for improving turning performance of a vehicle at low speeds or improving running stability at high speeds. The rear wheel steering device steers the rear wheels to the opposite phase or the same phase as the front wheels, or steers the rear wheels in a toe-in direction or a toe-out direction, depending on the driving condition of the vehicle. For example, Japanese Unexamined Patent Publication No. 193780/1983 discloses a method for changing the toe angle of the rear wheels in the toe-in direction as the vehicle speed increases, so that the vehicle can run over a wide range of vehicle speeds. A rear wheel steering device with improved stability is disclosed.
(発明が解決しようとする課題)
車両が直進している場合には、高速走行中でも車両の走
行安定性は確保される。また、車両が旋回運動をしてい
る場合でも、加速中あるはい等迷走行中であれば、車両
の走行安定性は余り損なゎれない。かかる諸点を勘案す
ると、車両の走行安定性確保のために、直進中にあるい
は加速・等速旋回中に、後輪のトル角をトーイン方向に
制御する必要性は比較的低いと考えられる。しかるに、
・特開昭60−193780号公報に開示された後輪操
舵装置では、直進中であっても、あるいは加速・等速旋
回中であ、−);7t)、高速走行中であれば後輪のト
ル角はトーイン方向に制御され、かかる過剰な走行安定
性の追求のために、不必要な負荷をエン・5にンにかけ
、またタイヤの偏磨耗を惹起するという問題かあった。(Problems to be Solved by the Invention) When the vehicle is traveling straight, the running stability of the vehicle is ensured even when traveling at high speed. Furthermore, even if the vehicle is making a turning motion, the running stability of the vehicle will not be significantly compromised if the vehicle is accelerating or traveling in a erratic manner. Taking these points into consideration, it is considered that there is a relatively low need to control the torque angle of the rear wheels in the toe-in direction while the vehicle is traveling straight or accelerating or turning at a constant speed in order to ensure running stability of the vehicle. However,
・The rear wheel steering device disclosed in Japanese Patent Application Laid-open No. 193780/1980 allows the rear wheels to be steered even when driving straight, or when accelerating or turning at a constant speed. The torque angle of the engine is controlled in the toe-in direction, and in order to pursue such excessive running stability, there is a problem in that unnecessary load is applied to the engine and the engine, causing uneven tire wear.
従って、本発明の目的は、車両の走行安定性を確保しつ
つ、タイヤの偏磨耗を防止できる車両の後輪操舵装置を
提供することにある。SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide a rear wheel steering device for a vehicle that can prevent uneven tire wear while ensuring running stability of the vehicle.
(課題を解決するための手段)
本発明においては、上記の課題を解決するために、車両
の走行状態を検出する手段と、車両の走行状態に応じて
後輪をトーイン方向に転舵する手段とを備えた車両の後
輪操舵装置において、車両の旋回運動を検出する手段と
、車両の加速度を検出する手段と、車両が旋回運動中で
あって、且つ車両の減速方向の加速度が所定値以上の場
合にのみ後輪をトーイン方向に転舵する手段とを備えt
゛車両後輪転舵装置を提供する。(Means for Solving the Problems) In order to solve the above problems, the present invention includes means for detecting the running state of the vehicle, and means for steering the rear wheels in the toe-in direction according to the running state of the vehicle. A rear wheel steering system for a vehicle, comprising: a means for detecting a turning motion of the vehicle; a means for detecting an acceleration of the vehicle; and a means for detecting a turning motion of the vehicle; and means for steering the rear wheels in the toe-in direction only in the above cases.
゛Providing a vehicle rear wheel steering device.
(作用)
本発明にあっては、上述のごとく、車両の旋同運動検出
手設と、車両の加速度検出手段とによって、車両かlI
J′T疋の加速度を伴った減速旋回中であることが検出
された場合にのみ、後輪のトル角がトーイン方向に制御
される。(Function) In the present invention, as described above, by means of the means for detecting rotational motion of the vehicle and the means for detecting the acceleration of the vehicle, the lI
The torque angle of the rear wheels is controlled in the toe-in direction only when it is detected that the vehicle is turning at a deceleration rate with an acceleration of J'T.
(実施例) 以下添付の図面に基づいて、本発明の詳細な説明する。(Example) The present invention will be described in detail below based on the accompanying drawings.
第1図において、1Rは右前輪、ILは左前輪、2Rは
右後輪、2Lは左後輪であり、左右の前輪IR,LLは
前輪転舵機構Aに連結し、また左右の後輪2R,2Lは
後輪転舵機構Bに連結している。In Figure 1, 1R is the right front wheel, IL is the left front wheel, 2R is the right rear wheel, and 2L is the left rear wheel.The left and right front wheels IR and LL are connected to the front wheel steering mechanism A, and the left and right rear wheels are connected to the front wheel steering mechanism A. 2R and 2L are connected to rear wheel steering mechanism B.
上記前輪転舵機構Aは、それぞれ左右一対のナックルア
ーム:3R,3L及びタイロッド4R14Lと、該左右
一対のタイロッド4R14L同士を連結するリレーロッ
ド5とから構成されている。The front wheel steering mechanism A includes a pair of left and right knuckle arms: 3R, 3L and a tie rod 4R14L, and a relay rod 5 that connects the pair of left and right tie rods 4R14L.
この前輪転舵機構Aにはステアリング機構Cが連結して
おり、該ステアリング機構Cは、実施例ではラックアン
ドピニオン式とされて、ハンドル6を右に切る操作をし
たときには、リレーロッド5が第1図の左方に変位して
、上記ハンドル6の操作変位量、すなわちハンドル舵角
に応じた量だけ左右の前輪IR,ILが右方向に転舵さ
れる。同様に、ハンドル6を左に切る操作をしたときは
、この操作変位量に応じて、左右の前輪IR1ILが左
方向に転舵される。A steering mechanism C is connected to this front wheel steering mechanism A, and the steering mechanism C is of a rack and pinion type in the embodiment, and when the steering wheel 6 is turned to the right, the relay rod 5 is 1, and the left and right front wheels IR and IL are steered to the right by an amount corresponding to the amount of operation displacement of the handle 6, that is, the steering angle. Similarly, when the steering wheel 6 is operated to turn to the left, the left and right front wheels IR1IL are steered to the left according to the amount of displacement of this operation.
また、上記後輪転舵機構Bも、前輪転舵機構Aと同様に
、それぞれ左右一対のナックルアーム10R,IOL及
びタイロッドIIR,IILを有する他、該タイロッド
4R14L同士を連結する連結機構りを有する。Further, like the front wheel steering mechanism A, the rear wheel steering mechanism B also includes a pair of left and right knuckle arms 10R, IOL and tie rods IIR, IIL, as well as a coupling mechanism that connects the tie rods 4R14L.
上記連結機構りは、第2図に詳細に示すように、左右の
後輪2R12L間において、車体に対し各々揺動中心2
0R’、2OL’回りに左右方向に揺動自在に取付けら
れた一対の揺動片2OR12OLを有する。この一対の
揺動片2OR120Lのうち、右揺動片20Rは右リレ
ーロッド21Rの車幅方向内端部に連結され、該右リレ
ーロッド21Rの外端部は上記右タイロッドIIRに連
結されている。同様に、左揺動片2OLは左リレーロッ
ド21Lの車幅方向内端部に連結され、該左リレーロッ
ド21Lの外端部は上記左タイロッドIILに連結され
ている。また、上記一対の揺動片20R120Lは、各
々左右一対の連結ロッド22R122Lに連結され、こ
の左右一対の連結ロッド22R,22Lの内端部は共に
ボールナツト23に連結されている。As shown in detail in FIG. 2, the above-mentioned coupling mechanism is arranged between the left and right rear wheels 2R12L, each with a pivot center 2 relative to the vehicle body.
It has a pair of rocking pieces 2OR12OL attached so as to be swingable in the left-right direction about 0R' and 2OL'. Of the pair of rocking pieces 2OR120L, the right rocking piece 20R is connected to the inner end in the vehicle width direction of the right relay rod 21R, and the outer end of the right relay rod 21R is connected to the right tie rod IIR. . Similarly, the left swing piece 2OL is connected to the inner end in the vehicle width direction of the left relay rod 21L, and the outer end of the left relay rod 21L is connected to the left tie rod IIL. Further, the pair of swinging pieces 20R120L are each connected to a pair of left and right connecting rods 22R122L, and the inner ends of the pair of left and right connecting rods 22R, 22L are both connected to a ball nut 23.
上記ポールナツト23は、車体に対して軸方向に変位可
能に支持され、その軸心を車体前後方向に向けて取付け
られている。ポールナツト23の内部にはねじ棒24か
挿入され、このねじ棒24の外周面とポールナツト23
の内周面との間には多数のボール25が転勤自在に配設
されている。The pole nut 23 is supported so as to be axially displaceable with respect to the vehicle body, and is attached with its axis directed in the longitudinal direction of the vehicle body. A threaded rod 24 is inserted into the inside of the pole nut 23, and the outer peripheral surface of the threaded rod 24 and the pole nut 23
A large number of balls 25 are movably disposed between the inner circumferential surface of the ball and the inner circumferential surface of the ball.
尚、ポールナツト23の内周面及びねじ棒21の外周面
には上記ボール25が転動するねし溝が形成されている
が、このような構成は既知なので図面では簡略化して示
しである。これによりねじ棒24の正逆回転に応じてポ
ールナツト23が車体前後方向に変位し、左右のリレー
:」ラド21Rと21Lとが互いに車幅方向に接近ある
いは離間する。今、ポールナツト23が車体後方に変位
すると、右側のリレー・ロッド21Rが第2図で右方に
変位し2で、右後輪2Rがトーイン方向に転舵される。Incidentally, a threaded groove in which the ball 25 rolls is formed on the inner circumferential surface of the pole nut 23 and the outer circumferential surface of the threaded rod 21, but since such a structure is known, it is shown in a simplified manner in the drawing. As a result, the pole nut 23 is displaced in the longitudinal direction of the vehicle body in accordance with the forward and reverse rotation of the threaded rod 24, and the left and right relays 21R and 21L approach or separate from each other in the vehicle width direction. Now, when the pole nut 23 is displaced to the rear of the vehicle body, the right relay rod 21R is displaced to the right in FIG. 2, and at 2, the right rear wheel 2R is steered in the toe-in direction.
これと同様に、左側のリレーロッド21Lは第2図で左
方に変位して、左後輪2Lもトーイン方向に転舵される
。Similarly, the left relay rod 21L is displaced to the left in FIG. 2, and the left rear wheel 2L is also steered in the toe-in direction.
L記後輪転舵機構Bの駆動を行う手段、すなわち左右の
後輪2R12Lを転舵させる駆動機構Eに・ついて説明
する。この駆動機構Eはステップモータ30から構成さ
れ、ステップモータ3oは車体に固定されて、その出力
軸30aは上記ねじ棒24に連結されている。したがっ
て、ステップモ・−夕30の正逆回転に応じて、ポール
ナツト23か車体前後方向に変位し、このポールナツト
23の変位により左右の後輪2R12Lが同時にトーイ
ンあるいはトーアウト方向に転舵されることになる。The means for driving the rear wheel steering mechanism B described in L, that is, the drive mechanism E for steering the left and right rear wheels 2R12L will be explained. The drive mechanism E includes a step motor 30, which is fixed to the vehicle body, and whose output shaft 30a is connected to the threaded rod 24. Therefore, in accordance with the forward and reverse rotation of the step motor 30, the pole nut 23 is displaced in the longitudinal direction of the vehicle body, and due to the displacement of the pole nut 23, the left and right rear wheels 2R12L are simultaneously steered in the toe-in or toe-out direction. .
さらに、40はマイクロコンピュータによって構成され
た制御ユニットであって、該制御ユニット40は、基本
的にCPU、ROMおよびRAMを備え、またステップ
モータ30の回転を制御する制御回路41を内蔵してい
る。42はハンドル舵角を検出する舵角センサ、43は
車両の加速度を検出する加速度センサであり、これらセ
ンサ42.43からの信号、すなわち舵角信号θ8と加
速度信号αとは上記制御ユニット40に入力される。ま
た制御ユニット40からはステップモータ30に制御信
号が出力される。Furthermore, 40 is a control unit configured by a microcomputer, and the control unit 40 basically includes a CPU, ROM, and RAM, and also has a built-in control circuit 41 that controls the rotation of the step motor 30. . 42 is a steering angle sensor that detects the steering wheel angle; 43 is an acceleration sensor that detects the acceleration of the vehicle; signals from these sensors 42 and 43, that is, a steering angle signal θ8 and an acceleration signal α, are sent to the control unit 40. is input. Further, a control signal is output from the control unit 40 to the step motor 30.
次に、後輪操舵の制御内容を説明する。後輪のトー角は
、所定の基準トー角T。から、車両の走行状態、すなわ
ちハンドル舵角と減速方向の加速度とに応じてトーイン
方向に制御される。第3図は、トーイン方向への後輪ト
ー角の制御目標値とハンドル舵角、減速方向の加速度と
の相関を規定した後輪操舵用のマツプの一例である。第
3図において制御目標値をmmで表しているのは、第4
図を参照して説明すると、例えば制御目標値が+6mm
の場合、図示AとBの差を6 mm増加させる角度分、
後輪のトー角が基準トー角T。からトーイン方向に変化
するように後輪2R12Lを転舵することを意味する。Next, the details of rear wheel steering control will be explained. The toe angle of the rear wheels is a predetermined reference toe angle T. Then, the toe-in direction is controlled according to the driving state of the vehicle, that is, the steering wheel angle and the acceleration in the deceleration direction. FIG. 3 is an example of a map for rear wheel steering that defines the correlation between the control target value of the rear wheel toe angle in the toe-in direction, the steering wheel steering angle, and the acceleration in the deceleration direction. In Fig. 3, the control target value is expressed in mm.
To explain with reference to the figure, for example, if the control target value is +6 mm
In the case of , the angle that increases the difference between A and B in the diagram by 6 mm,
The toe angle of the rear wheel is the standard toe angle T. This means steering the rear wheels 2R12L so as to change from toe-in direction.
また、同一のハンドル舵角であっても減速方向の加速度
が大きい程制御目標値は大きな値に設定され、もって減
速旋回中のスピン抑制の実効、すなわち減速旋回中の走
行安定性の確保が図られている。Furthermore, even with the same steering angle, the control target value is set to a larger value as the acceleration in the deceleration direction increases, which makes it possible to effectively suppress spin during deceleration turns, that is, to ensure running stability during deceleration turns. It is being
後輪操舵の制御は第5図のフローに基づいて行われる。Control of rear wheel steering is performed based on the flow shown in FIG.
尚、第5図においてSは制御ステップを意味する。アク
セルペダルの踏み込みと同時に後輪操舵の制御が開始さ
れる。先ず、舵角信号θ8と加速度信号αとが読み込ま
れる(St、32)。In addition, in FIG. 5, S means a control step. Rear wheel steering control starts at the same time as the accelerator pedal is depressed. First, the steering angle signal θ8 and the acceleration signal α are read (St, 32).
次いで舵角θ8が0でないか否か、すなわち車両が旋回
運動中であるか否が判別され(S3)、車両が旋回中で
ある場合には、さらに加速度αが減速方向に働いており
且つその絶対値が所定値α。Next, it is determined whether the steering angle θ8 is not 0, that is, whether the vehicle is turning or not (S3). If the vehicle is turning, it is determined that the acceleration α is acting in the deceleration direction and that the vehicle is turning. The absolute value is the predetermined value α.
以上であるか否か、すなわち、車両に所定値α。In other words, whether or not the predetermined value α is greater than or equal to the vehicle value.
以上の減速方向加速度が働いているか否かか判別される
(S4)。車両に所定値α。以上の減速方向加速度が働
いている場合には、コントロールユニット40は車両が
減速旋回運動中であると判断し、第3図のマツプに基づ
いて、舵角θ□と加速度αとから、トーイン方向への後
輪トー角の制御目標値f(θ□ ・α)を決定しくS5
)、該制御目標値f(θ9 ・α)に対応する制御信号
をステップモータ30に出力する(S6)。これにより
、後輪のトー角が制御目標値f(θ、・α)に対応する
角度だけ基準トー角T。からトーイン方向に変化するよ
うに後輪2R12Lが転舵される。車両が旋回中でない
場合及び車両に所定値α。以上の減速方向加速度が働い
ていない場合には、ステップS1に戻って引き続き制御
が続行される(S3.84)。It is determined whether or not the above acceleration in the deceleration direction is working (S4). A predetermined value α is applied to the vehicle. When the above acceleration in the deceleration direction is acting, the control unit 40 determines that the vehicle is decelerating and turning, and based on the map in FIG. S5 to determine the control target value f(θ□・α) of the rear wheel toe angle to
), and outputs a control signal corresponding to the control target value f(θ9·α) to the step motor 30 (S6). As a result, the toe angle of the rear wheels becomes the reference toe angle T by an angle corresponding to the control target value f(θ, ·α). The rear wheels 2R12L are steered so as to change from the toe-in direction to the toe-in direction. When the vehicle is not turning, a predetermined value α is applied to the vehicle. If the above acceleration in the deceleration direction is not working, the process returns to step S1 and the control continues (S3.84).
以上、本発明の詳細な説明したが、本発明は上記の実施
例に限定されるものではなく、特許請求の範囲に記載し
た発明の範囲内で種々改変が可能なことは言うまでもな
い。Although the present invention has been described in detail above, it goes without saying that the present invention is not limited to the above-mentioned embodiments, and that various modifications can be made within the scope of the invention described in the claims.
(効果)
本発明にあっては、上述のごとく、車両の旋回運動検出
手段と、車両の加速度検出手段とによって、車両が所定
の加速度を伴った減速旋回中であることが検出された場
合にのみ、後輪のトー角がトーイン方向に制御される。(Effects) As described above, in the present invention, when it is detected by the vehicle turning motion detection means and the vehicle acceleration detection means that the vehicle is decelerating and turning with a predetermined acceleration, only, the toe angle of the rear wheels is controlled in the toe-in direction.
従って、車両が走行不安定になりがちな減速旋回中に走
行の安定性が確保され、もって車両の走行安定性が確保
されると共に、後輪のトーイン制御が必要最小限の範囲
に限定されるので、タイヤの偏磨耗が防止される。Therefore, running stability is ensured during deceleration and turns when the vehicle tends to run unstable, thereby ensuring the running stability of the vehicle and limiting rear wheel toe-in control to the minimum necessary range. Therefore, uneven tire wear is prevented.
第1図は、本発明の実施例に係る後輪操舵装置の全体構
成図、第2図は第1図の要部詳細図である。第3図はト
ーイン方向への後輪トー角の制御目標値とハンドル舵角
、減速方向の加速度との相関を規定した後輪操舵用のマ
ツプの一例であり、第4図はトーイン制御目標値設定の
説明図である。
第5図は制御の一例を示すフローチャートである。
2R,2L・・・後輪、
30・・・ステップモータ、
40・・・制御ユニット、
42・・・舵角センサ、
43・・・加速度センサ。
第1図
第3図FIG. 1 is an overall configuration diagram of a rear wheel steering device according to an embodiment of the present invention, and FIG. 2 is a detailed diagram of the main parts of FIG. 1. Fig. 3 is an example of a map for rear wheel steering that defines the correlation between the control target value of the rear wheel toe angle in the toe-in direction, the steering wheel steering angle, and the acceleration in the deceleration direction, and Fig. 4 shows the toe-in control target value. FIG. 3 is an explanatory diagram of settings. FIG. 5 is a flowchart showing an example of control. 2R, 2L... Rear wheel, 30... Step motor, 40... Control unit, 42... Rudder angle sensor, 43... Acceleration sensor. Figure 1 Figure 3
Claims (1)
じて後輪をトーイン方向に転舵する手段とを備えた車両
の後輪操舵装置において、車両の旋回運動を検出する手
段と、車両の加速度を検出する手段と、車両が旋回運動
中であって、且つ車両の減速方向の加速度が所定値以上
の場合にのみ後輪をトーイン方向に転舵する手段とを備
えて成ることを特徴とする車両の後輪転舵装置。A rear wheel steering device for a vehicle, which includes a means for detecting a running state of the vehicle, and a means for steering a rear wheel in a toe-in direction according to the running state of the vehicle, the means for detecting a turning motion of the vehicle; and means for steering the rear wheels in the toe-in direction only when the vehicle is in a turning motion and the acceleration in the deceleration direction of the vehicle is equal to or greater than a predetermined value. Rear wheel steering device for vehicles.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP31707689A JPH03178880A (en) | 1989-12-06 | 1989-12-06 | Rear wheel steering device of vehicle |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP31707689A JPH03178880A (en) | 1989-12-06 | 1989-12-06 | Rear wheel steering device of vehicle |
Publications (1)
Publication Number | Publication Date |
---|---|
JPH03178880A true JPH03178880A (en) | 1991-08-02 |
Family
ID=18084157
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP31707689A Pending JPH03178880A (en) | 1989-12-06 | 1989-12-06 | Rear wheel steering device of vehicle |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPH03178880A (en) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6719087B2 (en) * | 2000-02-11 | 2004-04-13 | Delphi Technologies, Inc. | Control of independent steering actuators to improve vehicle stability and stopping |
US6808041B2 (en) | 2000-02-11 | 2004-10-26 | Delphi Technologies, Inc. | Method and system for providing secondary vehicle directional control through braking |
JP2007186099A (en) * | 2006-01-13 | 2007-07-26 | Toyota Motor Corp | Steering device of vehicle |
JP2008164015A (en) * | 2006-12-27 | 2008-07-17 | Honda Motor Co Ltd | Telescopic actuator |
-
1989
- 1989-12-06 JP JP31707689A patent/JPH03178880A/en active Pending
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6719087B2 (en) * | 2000-02-11 | 2004-04-13 | Delphi Technologies, Inc. | Control of independent steering actuators to improve vehicle stability and stopping |
US6808041B2 (en) | 2000-02-11 | 2004-10-26 | Delphi Technologies, Inc. | Method and system for providing secondary vehicle directional control through braking |
JP2007186099A (en) * | 2006-01-13 | 2007-07-26 | Toyota Motor Corp | Steering device of vehicle |
JP4595814B2 (en) * | 2006-01-13 | 2010-12-08 | トヨタ自動車株式会社 | Vehicle steering device |
JP2008164015A (en) * | 2006-12-27 | 2008-07-17 | Honda Motor Co Ltd | Telescopic actuator |
JP4664898B2 (en) * | 2006-12-27 | 2011-04-06 | 本田技研工業株式会社 | Telescopic actuator for vehicles |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US6079513A (en) | Steering apparatus for vehicle | |
JPH05131946A (en) | Rear wheel steering control device for vehicle | |
US4811969A (en) | Apparatus for controlling a steering angle of a rear wheel | |
JP3819261B2 (en) | Electric power steering device | |
JP2694554B2 (en) | Rear wheel steering control method for automobiles | |
JPH0390481A (en) | Rear wheel steering control device | |
US5212642A (en) | Electric control apparatus for four-wheel steering system | |
EP2236393B1 (en) | Rear wheel toe angle control system | |
JP4030203B2 (en) | Rear wheel steering device for rear wheel drive vehicles | |
KR20230020965A (en) | OMNIDIRECTIONAL VEHICLE | |
JPH03178880A (en) | Rear wheel steering device of vehicle | |
JPH04310468A (en) | Rear wheel steering mechanism for vehicle | |
JP2680451B2 (en) | 4-wheel steering system | |
US4706976A (en) | Front and rear wheel steering device | |
JPH04345515A (en) | Rear wheel steering device for vehicle | |
JPH02189281A (en) | Rear-wheel steering system for vehicle | |
WO2010110248A1 (en) | Vehicle control device | |
JPH06312666A (en) | Power steering device | |
JPH04345514A (en) | Rear wheel steering device for vehicle | |
JPS60193773A (en) | Front and rear wheels steering apparatus for car | |
JP2825831B2 (en) | Vehicle rear wheel steering system | |
JP2536233B2 (en) | Front and rear wheel steering vehicle rear wheel steering control device | |
KR100198842B1 (en) | Method of setting up an optimal delay time of rear wheel steering in 4 wheel steering system for an automobile | |
JP2825835B2 (en) | Vehicle rear wheel steering system | |
JP3013586B2 (en) | Rear wheel steering system for four-wheel steering vehicles |