JPH0344950B2 - - Google Patents

Info

Publication number
JPH0344950B2
JPH0344950B2 JP59018135A JP1813584A JPH0344950B2 JP H0344950 B2 JPH0344950 B2 JP H0344950B2 JP 59018135 A JP59018135 A JP 59018135A JP 1813584 A JP1813584 A JP 1813584A JP H0344950 B2 JPH0344950 B2 JP H0344950B2
Authority
JP
Japan
Prior art keywords
steering
vehicle
wheel
wheels
rear wheels
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
JP59018135A
Other languages
Japanese (ja)
Other versions
JPS60163768A (en
Inventor
Mitsuya Serizawa
Shoichi Sano
Osamu Furukawa
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Honda Motor Co Ltd
Original Assignee
Honda Motor Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Honda Motor Co Ltd filed Critical Honda Motor Co Ltd
Priority to JP1813584A priority Critical patent/JPS60163768A/en
Priority to US06/695,956 priority patent/US4598788A/en
Priority to GB08502294A priority patent/GB2153762B/en
Priority to FR8501365A priority patent/FR2559118B1/en
Publication of JPS60163768A publication Critical patent/JPS60163768A/en
Publication of JPH0344950B2 publication Critical patent/JPH0344950B2/ja
Granted legal-status Critical Current

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D7/00Steering linkage; Stub axles or their mountings
    • B62D7/06Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
    • B62D7/14Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
    • B62D7/15Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels
    • B62D7/1554Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels comprising a fluid interconnecting system between the steering control means of the different axles
    • B62D7/1572Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels comprising a fluid interconnecting system between the steering control means of the different axles provided with electro-hydraulic control means
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D7/00Steering linkage; Stub axles or their mountings
    • B62D7/06Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
    • B62D7/14Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
    • B62D7/15Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels
    • B62D7/159Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels characterised by computing methods or stabilisation processes or systems, e.g. responding to yaw rate, lateral wind, load, road condition

Description

【発明の詳細な説明】 本発明は四輪自動車等の車両の操舵装置に関す
る。
DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a steering system for a vehicle such as a four-wheeled vehicle.

本出願人は既に車両に於て前輪の転舵のみなら
ず、例えば車速や前輪転舵角等の一定の条件によ
つて後輪をも転舵し、車両の取り廻し性や操舵応
答性を飛躍的に向上させ得るようにした操舵装置
を種々提案している。即ち車速またはハンドル操
舵角に対応して前輪と後輪との転舵比を可変制御
するようにした操舵装置は既に特開昭55−91457
号公報及び同55−91458号公報にて公知となつて
いる。
The present applicant has already established a system in which not only the front wheels of a vehicle are steered, but also the rear wheels are steered depending on certain conditions such as vehicle speed and front wheel steering angle, thereby improving the maneuverability and steering response of the vehicle. Various steering devices have been proposed that can be dramatically improved. In other words, a steering system that variably controls the steering ratio between front wheels and rear wheels in response to vehicle speed or steering angle has already been disclosed in Japanese Patent Application Laid-Open No. 55-91457.
This method is publicly known in Japanese Patent Application No. No. 2003-11202 and Japanese Patent No. 55-91458.

ところで、一般に車両走行中に車輪のサスペン
シヨンが上下すると、これに伴いサスペンシヨン
を構成するリンク機構で定まる幾何学的なステア
変化(バンプステア、リバウンドステア)、或る
いはキヤンバ変化が生じ、これは車両にとり有害
な外乱となつて走行性能を悪化させる。例えば路
面の傷んだ高速道路等で高速走行中、路面の凹凸
の作用で後輪が幾何学的にステアされて尻が左右
に振れ直進性能を悪化させることがある。
By the way, generally speaking, when the wheel suspension moves up and down while the vehicle is running, a geometric steering change (bump steer, rebound steer) or camber change occurs, which is determined by the link mechanism that makes up the suspension. It becomes a harmful disturbance to the vehicle and deteriorates the driving performance. For example, when driving at high speed on a highway with a damaged road surface, the unevenness of the road surface may cause the rear wheels to be steered geometrically, causing the rear end to sway from side to side, deteriorating straight-line performance.

斯かるステア変化やキヤンバ変化はサスペンシ
ヨンストロークの関数(第3図P線参照)として
表わすことができ、サスペンシヨンのリンク形式
等の違いによつて定まる。また、通常四輪自動車
は車体の前部にエンジンを搭載しているため後部
が軽くなり、前輪ステア変化よりも後輪ステア変
化の方が大きくなるとともに、前輪のステア変化
はドライバがハンドルを操縦してその変化量を打
ち消せるが、後輪のステア変化は打ち消すことが
できずその影響が大きい。したがつて、この場
合、このような直進性能の悪化が減少する方向へ
後輪を転舵補正すれば当該弊害を効果的に排除す
ることができる。
Such steering changes and camber changes can be expressed as a function of the suspension stroke (see line P in FIG. 3), and are determined by differences in the suspension link type, etc. In addition, because four-wheeled vehicles usually have their engines mounted at the front of the vehicle, the rear part is lighter, and the rear wheel steering changes are larger than the front wheel steering changes, and the front wheel steering changes are controlled by the driver. However, the steering change of the rear wheels cannot be canceled out and its influence is large. Therefore, in this case, the problem can be effectively eliminated by correcting the steering of the rear wheels in a direction that reduces such deterioration in straight-ahead performance.

そこで、本発明の目的は走行中のサスペンシヨ
ンストローク変化にもとづくステア変化の影響を
何ら受けることなく、走行性能の向上を図るとこ
により、安定走行と快適な運転を行うことができ
る車両の操舵装置を提供するにある。
Therefore, an object of the present invention is to provide a steering system for a vehicle that enables stable and comfortable driving by improving driving performance without being affected by steering changes caused by changes in suspension stroke during driving. is to provide.

本発明は以上の目的を達成するために、車速や
ハンドル操舵角に対応して前輪と後輪との転舵比
を可変制御できる車両な操舵装置において、左右
輪のサスペンシヨンストロークを検出する検出手
段からの検出結果に対応して各車輪のステア量を
算出する算出手段、前記各車輪のステア量により
後輪を転舵する制御情報を出力する演算手段、前
記制御情報によつて後輪の転舵を補正する制御手
段を備えることを特徴とする。
In order to achieve the above object, the present invention detects the suspension stroke of the left and right wheels in a vehicle steering system that can variably control the steering ratio between front wheels and rear wheels in accordance with vehicle speed and steering angle. calculation means for calculating the amount of steering of each wheel in response to the detection results from the means; a calculation means for outputting control information for steering the rear wheels based on the amount of steering for each wheel; It is characterized by comprising a control means for correcting steering.

また、前記算出手段はサスペンシヨンストロー
クによつて幾何学的に定まる後輪のステア変化量
を算出することが好ましい。
Further, it is preferable that the calculation means calculates a steering change amount of the rear wheels, which is determined geometrically by a suspension stroke.

以下には本発明をさらに具体化した好適な実施
例を挙げ図面を参照して詳述する。
Below, preferred embodiments that further embody the present invention will be described in detail with reference to the drawings.

先ず、本発明を明確にするため第1図に基づき
車両の操舵装置の概略構成について鮮明する。同
図は本発明に係る操舵装置を装備した車両の基本
構造を示す摸式的平面図である。同図に於て1は
ステアリングハンドルで、このハンドル1のステ
アリング軸2はギヤボツクス3に内装した例えば
ラツク&ピニオン方式による方向転換手段に接続
し、ハンドル1の操舵回動をタイロツド4の車体
幅方向への運動に変換する。このタイロツド4の
両端部は前輪5,5を支持するナツクルアーム
6,6に連結し左右方向へ回動自在に支持された
ナツクルアーム6,6の機能によつてタイロツド
4の車体幅方向の変位は前輪5,5をハンドル1
の操舵方向へ転舵せしめる。
First, in order to clarify the present invention, the schematic structure of a vehicle steering system will be explained clearly based on FIG. This figure is a schematic plan view showing the basic structure of a vehicle equipped with a steering device according to the present invention. In the figure, reference numeral 1 denotes a steering handle, and the steering shaft 2 of this handle 1 is connected to a direction changing means, for example, a rack and pinion system, installed in a gear box 3, and the steering rotation of the handle 1 is controlled by a tie rod 4 in the width direction of the vehicle body. Convert to motion. Both ends of the tie rod 4 are connected to knuckle arms 6, 6 that support the front wheels 5, 5, and by the function of the knuckle arms 6, 6 which are rotatably supported in the left and right directions, the displacement of the tie rod 4 in the vehicle width direction is controlled by the front wheels. 5, 5 as handle 1
The steering wheel is turned in the steering direction.

他方、7は後輪側ギヤボツクスであり、このギ
ヤボツクス7に内装したラツク&ピニオン方式等
の方向転換手段には後輪操舵サーボアクチエータ
8から後方へ延出する軸8aを接続する。また、
ギヤボツクス7を車体幅方向へ移動自在に貫通す
るタイロツド9の両端部にはナツクルアーム1
0,10を回動自在に連結し、このナツクルアー
ム10,10は後輪11,11を支持する。これ
により前記前輪側な転舵と同様に軸8aの回転に
よつてタイロツド9を車体幅方向へ変位せしめ、
さらに後輪11,11を所要の方向へ転舵せしめ
る。
On the other hand, 7 is a rear wheel side gearbox, and a shaft 8a extending rearward from a rear wheel steering servo actuator 8 is connected to a direction changing means such as a rack and pinion type built in this gearbox 7. Also,
Knuckle arms 1 are attached to both ends of a tie rod 9 that passes through the gearbox 7 in a manner that allows it to move freely in the width direction of the vehicle body.
0 and 10 are rotatably connected, and the knuckle arms 10 and 10 support rear wheels 11 and 11. As a result, the tie rod 9 is displaced in the vehicle width direction by the rotation of the shaft 8a, similar to the steering on the front wheel side.
Furthermore, the rear wheels 11, 11 are steered in a required direction.

一方、車両には車載コンピユータ12を搭載
し、このコンピユータ12は例えば前輪の転舵角
度を検出する前輪転舵角センサ13、その他不図
示の車両の横方向への加速度を検出する横加速度
センサ、或るいは車速を検出する車速センサ等の
必要により設けた各種のセンサから検出信号を受
けてこれに対応した制御信号を前記操舵サーボア
クチエータ8へ供給し、後輪の転舵を行うことが
できる。
On the other hand, the vehicle is equipped with an on-board computer 12, and this computer 12 includes, for example, a front wheel steering angle sensor 13 that detects the steering angle of the front wheels, a lateral acceleration sensor (not shown) that detects the acceleration of the vehicle in the lateral direction, Alternatively, it is possible to receive detection signals from various sensors provided as necessary, such as a vehicle speed sensor for detecting vehicle speed, and supply a corresponding control signal to the steering servo actuator 8 to steer the rear wheels. can.

また、各前輪5,5、及び後輪11,11と車
体14間に介設したサスペンシヨンユニツト1
5,16,17,18にはこのサスペンシヨンス
トロークを検出するストロークセンサ(検出手
段)19,20,21,22を配設する。このス
トロークセンサは例えば緩衝器に設け、この伸縮
長をスライド抵抗器等で電気的に検出できるポテ
ンシヨメータ等を利用できる。この各センサ1
9,20,21,22は前記コンピユータ12に
接続する。
In addition, a suspension unit 1 is interposed between each of the front wheels 5, 5 and the rear wheels 11, 11 and the vehicle body 14.
Stroke sensors (detection means) 19, 20, 21, and 22 are provided at 5, 16, 17, and 18 to detect this suspension stroke. This stroke sensor can be provided, for example, in a shock absorber, and can utilize a potentiometer or the like that can electrically detect this expansion/contraction length using a slide resistor or the like. Each sensor 1
9, 20, 21, and 22 are connected to the computer 12.

次に、第2図乃至第3図を参照し本発明の要部
の構成及び機能について具体的に説明する。第2
図は後輪操舵系の機能ブロツク図、第3図は原理
説明用特性図である。
Next, the configuration and functions of the main parts of the present invention will be specifically explained with reference to FIGS. 2 and 3. Second
The figure is a functional block diagram of the rear wheel steering system, and FIG. 3 is a characteristic diagram for explaining the principle.

先ず、第2図に於て前記コンピユータ12には
第1図に示した前輪転舵角センサ13等の各種の
センサを接続するが、この検出結果はコンピユー
タ12内に於て予め設定したデータイに基づき演
算処理ロし当該検出結果に対応した後輪転舵情報
d0を得る。この情報d0は前記サーボアクチエータ
8へ付与され、例えばデジタルアナログ変換、増
幅、モータ駆動等の動作によつて前記軸8aを回
転せしめ後輪11,11を転舵する。以上の構成
及び機能は既に本出願人が提案しており、任意に
構成できるとともに、これらは本発明上無装備で
もよい。
First, in FIG. 2, various sensors such as the front wheel steering angle sensor 13 shown in FIG. 1 are connected to the computer 12, and the detection results are stored in preset data in the computer 12. Based on the calculation process, rear wheel steering information corresponding to the detection result is generated.
get d 0 . This information d 0 is applied to the servo actuator 8, which rotates the shaft 8a and steers the rear wheels 11, 11 through operations such as digital-to-analog conversion, amplification, and motor drive. The above configuration and functions have already been proposed by the present applicant, and can be configured as desired, and may not be provided in accordance with the present invention.

一方、コンピユータ12に於て、特に後輪側の
前記ストロークセンサ21,22から検出したサ
スペンシヨンストロークに比例した検出信号S
1,S2は算出手段たるステア量算出処理ヘ,ト
によつて予め設定したデータニ,ホに基づき当該
サスペンシヨンストロークに対応したステア量の
大きさと、その生じている方向を示すステア量デ
ータd1,d2を得る。つまり第3図に示すサス
ペンシヨンストローク対ステア量特性Pから明ら
かな如くステア量はサスペンシヨンストロークの
変化に対してサスペンシヨンリンク機構等によつ
て定まる一定の関数に従つて変化する。したがつ
て、この特性Pをデータニ,ホとしてプログラム
に設定しておけば容易にステア量のデータd1,
d2を得る。このデータd1,d2は演算手段た
る演算処理チによつて上記ステア量を打ち消すた
めの制御情報d3を生成し出力する。即ち演算処
理チへデータd1,d2によつて、例えば左右の
各ステア量を合成した総合ステア量を両者によつ
てつくられるマトリクス状のデータ配列の組合せ
から選択し、この総合ステア量を打ち消すための
後輪転舵角だけ転舵せしめる極性(方向)と大き
さを有する制御情報d3を出力する。この制御情
報d3はいわば第3図に示した特性Pを打ち消す
ためのこれとは反対の特性Qを後輪に生じさせる
ようにするための機能をもつ。
On the other hand, in the computer 12, a detection signal S proportional to the suspension stroke detected from the stroke sensors 21 and 22 on the rear wheel side is generated.
1, S2 is steering amount data d1, which indicates the magnitude of the steering amount corresponding to the suspension stroke and the direction in which it is occurring, based on data D and E preset by the steering amount calculation processing F and G, which are calculation means. Get d2. In other words, as is clear from the suspension stroke vs. steering amount characteristic P shown in FIG. 3, the steering amount changes in accordance with a constant function determined by the suspension link mechanism etc. with respect to changes in the suspension stroke. Therefore, if this characteristic P is set in the program as data d1, ho, the steering amount data d1,
Get d2. These data d1 and d2 are used to generate and output control information d3 for canceling the above-mentioned steer amount by a calculation processing unit which is a calculation means. That is, in order to cancel the total steer amount by selecting the total steer amount, which is a combination of the left and right steer amounts, for example, from the combination of the matrix-like data arrays created by the left and right steer amounts, using the data d1 and d2 in the arithmetic processing unit. Control information d3 having the polarity (direction) and magnitude for turning the rear wheels by the turning angle is output. This control information d3 has a function of causing the rear wheels to produce a characteristic Q, which is the opposite of the characteristic P shown in FIG. 3, so to speak.

そして、この制御情報d3は制御手段たる加算
処理ハに付与され、前記情報d0が存在する場合に
は情報d0±3となつて、また情報d0が存在しない
ときは単独でアクチユータ8に供給される。この
結果、アクチユータ8は後輪を転舵補正し、サス
ペンシヨンストロークの変化によつて生じた無用
のステア変化量を打ち消し本来の走行性能に何ら
悪影響を与えない。
Then, this control information d3 is given to the addition process C which is a control means, and when the information d 0 exists, it becomes the information d 0 ±3, and when the information d 0 does not exist, it is applied to the actuator 8 independently. Supplied. As a result, the actuator 8 corrects the steering of the rear wheels, cancels out unnecessary steering changes caused by changes in the suspension stroke, and does not adversely affect the original driving performance.

以上のコンピユータ12における各処理は予め
格納された制御プログラム(ソフトウエア)に従
つて実行される。なお、コンピユータ12の代わ
りに同機能を有する電気的回路等でもよい。ま
た、第2図における機能ブロツク図では便宜上後
輪のサスペンシヨンストロークのみを検出した場
合を示した第1図の如く前輪のサスペンシヨンス
トロークを検出するストロークセンサ19,20
の検出結果を同様に利用して後輪を転舵補正せし
めることにより直進走行性の精度と信頼性をより
向上させるようにしても勿論よい。
Each process in the computer 12 described above is executed according to a control program (software) stored in advance. Note that the computer 12 may be replaced by an electrical circuit or the like having the same function. For convenience, the functional block diagram in FIG. 2 shows the case where only the suspension stroke of the rear wheels is detected.As shown in FIG. 1, the stroke sensors 19 and 20 detect the suspension stroke of the front wheels.
Of course, the accuracy and reliability of the straight-ahead running performance may be further improved by similarly utilizing the detection results to correct the steering of the rear wheels.

このように、本発明に係る車両の操舵装置は走
行中のサスペンシヨンストローク変化にもとづく
ステア変化を後輪転舵角を補正することにより打
ち消すため、凹凸路面走行時での左右の一方の車
輪のみがストロークしてもその車輪のステア変化
の影響を何ら受けることなく直進性能等の走行性
能の飛躍的向上が図れ、以つて安定走行と好適な
運転を行うことができる。
As described above, the vehicle steering system according to the present invention cancels steering changes based on suspension stroke changes during driving by correcting the rear wheel steering angle, so that only one of the left and right wheels is turned when driving on an uneven road. Even when the wheel is stroked, it is not affected by changes in steering of the wheel, and driving performance such as straight-line performance can be dramatically improved, and stable driving and suitable driving can be achieved.

【図面の簡単な説明】[Brief explanation of drawings]

第1図は本発明に係る操舵装置を装備した車両
の基本構造を示す模式的平面図、第2図は後輪操
舵系の機能ブロツク図、第3図は原理説明用特性
図である。 尚、図面中、5,5は前輪、11,11は後
輪、12は車載コンピユータ、15,16,1
7,18はサスペンシヨン、19,20,21,
22はストロークセンサ、イ,ニはデータ、ロ,
チは演算処理、ハは加算処理、ヘ,トはステア量
算出処理である。
FIG. 1 is a schematic plan view showing the basic structure of a vehicle equipped with a steering system according to the present invention, FIG. 2 is a functional block diagram of a rear wheel steering system, and FIG. 3 is a characteristic diagram for explaining the principle. In addition, in the drawing, 5, 5 are front wheels, 11, 11 are rear wheels, 12 is an on-board computer, 15, 16, 1
7, 18 is suspension, 19, 20, 21,
22 is a stroke sensor, A, D are data, B,
H is a calculation process, C is an addition process, and H and G are steering amount calculation processes.

Claims (1)

【特許請求の範囲】 1 車速やハンドル操舵角に対応して前輪と後輪
との転舵比を可変制御できる車両の操舵装置にお
いて、左右輪のサスペンシヨンストロークを検出
する検出手段からの検出結果に対応して各車輪の
ステア量を算出する算出手段、前記各車輪のステ
ア量により後輪を転舵する制御情報を出力する演
算手段、前記制御情報によつて後輪の転舵を補正
する制御手段を備えることを特徴とする車両の操
舵装置。 2 特許請求の範囲第1項において、 前記算出手段はサスペンシヨンストロークによ
つて幾何学的に定まる後輪のステア変化量を算出
することを特徴とする車両の操舵装置。
[Scope of Claims] 1. Detection results from a detection means for detecting suspension strokes of left and right wheels in a vehicle steering system that can variably control the steering ratio between front wheels and rear wheels in accordance with vehicle speed and steering angle of the steering wheel. calculation means for calculating the amount of steering of each wheel in accordance with the amount of steering of each wheel; calculation means for outputting control information for steering the rear wheels based on the amount of steering for each of the wheels; and calculation means for correcting the steering of the rear wheels based on the control information. A vehicle steering device comprising a control means. 2. The vehicle steering system according to claim 1, wherein the calculation means calculates a rear wheel steering change amount that is determined geometrically by a suspension stroke.
JP1813584A 1984-02-02 1984-02-02 Steering device for vehicle Granted JPS60163768A (en)

Priority Applications (4)

Application Number Priority Date Filing Date Title
JP1813584A JPS60163768A (en) 1984-02-02 1984-02-02 Steering device for vehicle
US06/695,956 US4598788A (en) 1984-02-02 1985-01-29 Steering system for vehicles
GB08502294A GB2153762B (en) 1984-02-02 1985-01-30 Vehicle steering systems
FR8501365A FR2559118B1 (en) 1984-02-02 1985-01-31 STEERING SYSTEM FOR VEHICLES TAKING INTO ACCOUNT SUSPENSION DAMPING RACES

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP1813584A JPS60163768A (en) 1984-02-02 1984-02-02 Steering device for vehicle

Publications (2)

Publication Number Publication Date
JPS60163768A JPS60163768A (en) 1985-08-26
JPH0344950B2 true JPH0344950B2 (en) 1991-07-09

Family

ID=11963155

Family Applications (1)

Application Number Title Priority Date Filing Date
JP1813584A Granted JPS60163768A (en) 1984-02-02 1984-02-02 Steering device for vehicle

Country Status (1)

Country Link
JP (1) JPS60163768A (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010058724A (en) * 2008-09-05 2010-03-18 Honda Motor Co Ltd Vehicle behavior control device

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5923775A (en) * 1982-07-31 1984-02-07 Isuzu Motors Ltd Auxiliary steering device for rear wheels

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5923775A (en) * 1982-07-31 1984-02-07 Isuzu Motors Ltd Auxiliary steering device for rear wheels

Also Published As

Publication number Publication date
JPS60163768A (en) 1985-08-26

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