JPH0353143B2 - - Google Patents
Info
- Publication number
- JPH0353143B2 JPH0353143B2 JP59015332A JP1533284A JPH0353143B2 JP H0353143 B2 JPH0353143 B2 JP H0353143B2 JP 59015332 A JP59015332 A JP 59015332A JP 1533284 A JP1533284 A JP 1533284A JP H0353143 B2 JPH0353143 B2 JP H0353143B2
- Authority
- JP
- Japan
- Prior art keywords
- vehicle
- yaw rate
- steering
- auxiliary steering
- lateral acceleration
- 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
Links
- 230000001133 acceleration Effects 0.000 claims description 43
- 238000000034 method Methods 0.000 claims description 17
- 230000008859 change Effects 0.000 description 11
- 230000004044 response Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 238000001514 detection method Methods 0.000 description 5
- 241001247986 Calotropis procera Species 0.000 description 4
- 230000005484 gravity Effects 0.000 description 4
- 230000007423 decrease Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000004069 differentiation Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 230000003111 delayed effect Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000009897 systematic effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
- B62D7/14—Steering 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
- B62D7/15—Steering 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
- B62D7/159—Steering 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
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mathematical Physics (AREA)
- Theoretical Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP59015332A JPS60161256A (ja) | 1984-01-31 | 1984-01-31 | 車両の補助操舵方法 |
EP85101021A EP0150856B1 (en) | 1984-01-31 | 1985-01-31 | Auxiliary steering system for wheeled vehicle |
DE8585101021T DE3567420D1 (en) | 1984-01-31 | 1985-01-31 | Auxiliary steering system for wheeled vehicle |
US07/318,470 US4878557A (en) | 1984-01-31 | 1989-02-28 | Auxiliary steering system for wheeled vehicle |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP59015332A JPS60161256A (ja) | 1984-01-31 | 1984-01-31 | 車両の補助操舵方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
JPS60161256A JPS60161256A (ja) | 1985-08-22 |
JPH0353143B2 true JPH0353143B2 (US07179912-20070220-C00144.png) | 1991-08-14 |
Family
ID=11885826
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP59015332A Granted JPS60161256A (ja) | 1984-01-31 | 1984-01-31 | 車両の補助操舵方法 |
Country Status (4)
Country | Link |
---|---|
US (1) | US4878557A (US07179912-20070220-C00144.png) |
EP (1) | EP0150856B1 (US07179912-20070220-C00144.png) |
JP (1) | JPS60161256A (US07179912-20070220-C00144.png) |
DE (1) | DE3567420D1 (US07179912-20070220-C00144.png) |
Families Citing this family (82)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS60161256A (ja) * | 1984-01-31 | 1985-08-22 | Nissan Motor Co Ltd | 車両の補助操舵方法 |
JPS60193773A (ja) * | 1984-03-15 | 1985-10-02 | Honda Motor Co Ltd | 車両の前後輪操舵装置 |
JPS60193775A (ja) * | 1984-03-15 | 1985-10-02 | Honda Motor Co Ltd | 車両の後輪転舵装置 |
JPS6246771A (ja) * | 1985-08-24 | 1987-02-28 | Mazda Motor Corp | 自動車のステアリング装置 |
JPS62137276A (ja) * | 1985-12-09 | 1987-06-20 | Nissan Motor Co Ltd | 車両用操舵系制御装置 |
JPH0615340B2 (ja) * | 1985-12-27 | 1994-03-02 | 日産自動車株式会社 | 操舵反力制御装置 |
JP2541928B2 (ja) * | 1986-03-24 | 1996-10-09 | 日産自動車株式会社 | 車両姿勢制御装置 |
JPH0733924Y2 (ja) * | 1986-05-12 | 1995-08-02 | 三菱自動車工業株式会社 | 車両用サスペンション装置 |
CA1320551C (en) * | 1987-03-09 | 1993-07-20 | Shuji Shiraishi | Yaw motion control device |
JP2539818B2 (ja) * | 1987-03-31 | 1996-10-02 | 豊田工機株式会社 | 動力舵取装置の操舵力制御装置 |
EP0298232B1 (en) * | 1987-06-11 | 1993-09-08 | Honda Giken Kogyo Kabushiki Kaisha | Driving wheel slip control system for vehicles |
DE3826982C2 (de) * | 1987-08-10 | 2000-11-30 | Denso Corp | Hilfslenksystem verbunden mit einem Antiblockiersteuerungssystem zur Verwendung in Kraftfahrzeugen |
JPH078652B2 (ja) * | 1987-09-16 | 1995-02-01 | 本田技研工業株式会社 | 前後輪操舵車輌に於ける後輪転舵角制御方法 |
JPH0725307B2 (ja) * | 1987-09-25 | 1995-03-22 | 本田技研工業株式会社 | 前輪転舵角の制御方法 |
JP2740176B2 (ja) * | 1987-12-28 | 1998-04-15 | 日産自動車株式会社 | 車両の後輪操舵方法 |
DE3804587A1 (de) * | 1988-02-13 | 1989-08-24 | Daimler Benz Ag | Zusatzlenkung |
JPH0829670B2 (ja) * | 1988-02-18 | 1996-03-27 | 日産自動車株式会社 | 前後輪駆動力配分制御車両の補助操舵方法 |
US4996657A (en) * | 1988-03-18 | 1991-02-26 | Honda Giken Kogyo K.K. | Steering angle detecting system for automotive vehicles |
JP2549708B2 (ja) * | 1988-07-05 | 1996-10-30 | 日産自動車株式会社 | 4輪操舵車両の後輪操舵装置 |
US4941097A (en) * | 1988-09-13 | 1990-07-10 | Aisin Seiki Kabushiki Kaisha | Steering control methods and apparatus |
US5313389A (en) * | 1988-09-13 | 1994-05-17 | Aisin Seiki Kabushiki Kaisha | Fail-safe mechanism for vehicle stability augmentation steering system |
US5156229A (en) * | 1988-09-13 | 1992-10-20 | Aisin Seiki Kabushiki Kaisha | Steering control apparatus |
US5159553A (en) * | 1988-09-13 | 1992-10-27 | Aisin Seiki Kabushiki Kaisha | Steering control apparatus |
US5230396A (en) * | 1988-09-13 | 1993-07-27 | Aisin Seiki Kabushiki Kaisha | Steering control apparatus |
JP2641743B2 (ja) * | 1988-09-22 | 1997-08-20 | 本田技研工業株式会社 | 四輪操舵車の後輪制御方法 |
JPH0265678U (US07179912-20070220-C00144.png) * | 1988-11-08 | 1990-05-17 | ||
JPH02151572A (ja) * | 1988-12-02 | 1990-06-11 | Honda Motor Co Ltd | 車両の舵角制御装置 |
FR2641754B1 (fr) * | 1989-01-19 | 1991-05-03 | Peugeot | Dispositif de direction d'au moins un train de roues de vehicule |
DE4000995B4 (de) * | 1989-01-26 | 2008-02-28 | Volkswagen Ag | Lenksystem für Kraftfahrzeuge |
GB8913212D0 (en) * | 1989-06-08 | 1989-07-26 | Lotus Group Plc | A wheeled vehicle steering system |
JP2787362B2 (ja) * | 1990-02-28 | 1998-08-13 | マツダ株式会社 | 車両の後輪操舵装置 |
EP0460581B1 (en) * | 1990-06-04 | 1995-04-26 | Nippondenso Co., Ltd. | Signal processing circuit for yaw-rate sensor |
FR2662987B1 (fr) * | 1990-06-08 | 1992-07-31 | Valeo Electronique | Dispositif de commande d'un dispositif d'assistance de direction pour vehicule. |
DE69116951T2 (de) * | 1990-08-10 | 1996-10-02 | Matsushita Electric Ind Co Ltd | Lenkwinkel-Steuergerät für die Hinterräder eines durch vier Räder gelenkten Fahrzeuges |
JPH04108073A (ja) * | 1990-08-24 | 1992-04-09 | Daihatsu Motor Co Ltd | 四輪操舵装置の制御方法 |
JP2936674B2 (ja) * | 1990-08-28 | 1999-08-23 | 日産自動車株式会社 | 舵角制御装置 |
DE4028320A1 (de) * | 1990-09-06 | 1992-03-12 | Deutsche Forsch Luft Raumfahrt | Verfahren zum lenken von strassenfahrzeugen mit vorder- und hinterradlenkung |
DE4030846A1 (de) * | 1990-09-29 | 1992-04-02 | Bosch Gmbh Robert | Verfahren zur steuerung des lenkwinkels |
JP2580865B2 (ja) * | 1990-10-17 | 1997-02-12 | 三菱自動車工業株式会社 | 車両用ステアリング制御装置 |
JP2827507B2 (ja) * | 1990-11-28 | 1998-11-25 | 日産自動車株式会社 | 車両用四輪操舵装置 |
US5386365A (en) * | 1991-03-22 | 1995-01-31 | Mazda Motor Corporation | Rear wheel steering system for vehicle |
DE4121954A1 (de) * | 1991-07-03 | 1993-01-07 | Bosch Gmbh Robert | Verfahren zur gewinnung der giergeschwindigkeit und/oder quergeschwindigkeit |
DE4123234C1 (US07179912-20070220-C00144.png) * | 1991-07-13 | 1992-08-27 | Mercedes-Benz Aktiengesellschaft, 7000 Stuttgart, De | |
US5388658A (en) * | 1991-12-02 | 1995-02-14 | Imra America, Inc. | Integrated torque and steering control system |
JP3211434B2 (ja) * | 1991-12-18 | 2001-09-25 | アイシン精機株式会社 | 車輛誘導制御装置 |
JPH05229444A (ja) * | 1992-02-05 | 1993-09-07 | Toyota Motor Corp | 4輪操舵車の後輪操舵制御装置 |
EP0559114B1 (de) * | 1992-03-03 | 1996-10-23 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Verfahren zum Lenken eines Strassenfahrzeugs mit Vorder- und Hinterradlenkung |
US5734570A (en) * | 1992-08-04 | 1998-03-31 | Lotus Cars Limited | Wheeled vehicle steering system for steering the rear wheels of a vehicle |
JPH0687348A (ja) * | 1992-09-08 | 1994-03-29 | Komatsu Ltd | 車両のスリップ検出装置 |
JP3091038B2 (ja) * | 1992-12-02 | 2000-09-25 | 本田技研工業株式会社 | 前後輪操舵車両の制御装置 |
JPH06211152A (ja) * | 1993-01-19 | 1994-08-02 | Aisin Seiki Co Ltd | 車輌の操舵装置 |
US5467281A (en) * | 1993-03-13 | 1995-11-14 | Toyoda Koki Kabushiki Kaisha | Controller for power steering apparatus |
JP3229074B2 (ja) * | 1993-06-04 | 2001-11-12 | 本田技研工業株式会社 | 車両用操舵装置 |
JP2979932B2 (ja) * | 1993-11-16 | 1999-11-22 | 日産自動車株式会社 | 車両用補助舵角制御装置 |
JPH07234727A (ja) * | 1994-02-21 | 1995-09-05 | Komatsu Ltd | 作業機の振動抑制装置およびその方法 |
JP2686042B2 (ja) * | 1994-03-02 | 1997-12-08 | 本田技研工業株式会社 | 前後輪操舵車両の制御装置 |
JP3116738B2 (ja) * | 1994-07-28 | 2000-12-11 | トヨタ自動車株式会社 | 車輌の挙動制御装置 |
JPH0848256A (ja) * | 1994-08-08 | 1996-02-20 | Toyota Motor Corp | 車両の運動制御装置 |
US5732379A (en) * | 1994-11-25 | 1998-03-24 | Itt Automotive Europe Gmbh | Brake system for a motor vehicle with yaw moment control |
DE19515046B4 (de) * | 1994-11-25 | 2012-03-08 | Continental Teves Ag & Co. Ohg | Vorrichtung zur Regelung des Giermoments eines Fahrzeugs |
US5710704A (en) * | 1994-11-25 | 1998-01-20 | Itt Automotive Europe Gmbh | System for driving stability control during travel through a curve |
US5774821A (en) * | 1994-11-25 | 1998-06-30 | Itt Automotive Europe Gmbh | System for driving stability control |
US5694321A (en) * | 1994-11-25 | 1997-12-02 | Itt Automotive Europe Gmbh | System for integrated driving stability control |
US5732377A (en) * | 1994-11-25 | 1998-03-24 | Itt Automotive Europe Gmbh | Process for controlling driving stability with a yaw rate sensor equipped with two lateral acceleration meters |
US5732378A (en) * | 1994-11-25 | 1998-03-24 | Itt Automotive Europe Gmbh | Method for determining a wheel brake pressure |
US5711024A (en) * | 1994-11-25 | 1998-01-20 | Itt Automotive Europe Gmbh | System for controlling yaw moment based on an estimated coefficient of friction |
US5742507A (en) * | 1994-11-25 | 1998-04-21 | Itt Automotive Europe Gmbh | Driving stability control circuit with speed-dependent change of the vehicle model |
US5710705A (en) * | 1994-11-25 | 1998-01-20 | Itt Automotive Europe Gmbh | Method for determining an additional yawing moment based on side slip angle velocity |
US5709281A (en) * | 1995-09-14 | 1998-01-20 | Trw Inc. | Method and apparatus for adjusting steering feel |
DE19548713C1 (de) * | 1995-12-23 | 1997-05-07 | Daimler Benz Ag | Lenkwinkelstelleinrichtung für ein Kraftfahrzeug |
DE19813945C2 (de) * | 1998-03-28 | 2000-02-03 | Daimler Chrysler Ag | Steuereinrichtung zur Beeinflussung der Fahrdynamik eines vierrädrigen Fahrzeugs |
US6655494B2 (en) * | 2002-04-19 | 2003-12-02 | Delphi Technologies, Inc. | Active front steering actuator and method for controlling a vehicle |
US8862327B2 (en) * | 2004-06-25 | 2014-10-14 | Continental Teves Ag & Co., Ohg | Process and device for stabilizing a vehicle |
WO2006027875A1 (ja) * | 2004-08-06 | 2006-03-16 | National University Corporation Tokyo University Of Agriculture And Technology | 前輪操舵制御装置 |
JP4726523B2 (ja) * | 2005-03-31 | 2011-07-20 | アイシン機工株式会社 | シャッター |
US20070251474A1 (en) * | 2006-05-01 | 2007-11-01 | Gauthier Daniel G | Cam phasing system with mid-range engine shutdown |
JP2008024125A (ja) * | 2006-07-20 | 2008-02-07 | Advics:Kk | 車両挙動安定化制御装置 |
DE102006048835A1 (de) * | 2006-10-16 | 2008-04-17 | Magna Steyr Fahrzeugtechnik Ag & Co. Kg | Verfahren zur Regelung der Gierrate eines Kraftfahrzeugs |
US7881841B2 (en) * | 2006-12-28 | 2011-02-01 | Caterpillar Inc. | Motion-control system |
DE102009004772A1 (de) | 2009-01-15 | 2009-09-17 | Daimler Ag | Verfahren zum Betrieb eines Fahrzeugs |
EP2591941A4 (en) * | 2010-07-09 | 2014-07-16 | Nissan Motor | DEVICE FOR CONTROLLING THE TORQUE DISTRIBUTION ON THE LEFT AND RIGHT WHEELS OF A VEHICLE |
DE102011119462A1 (de) * | 2011-06-16 | 2012-12-20 | Daimler Ag | Verfahren zum Betreiben eines Seitenwindassistenten für ein Fahrzeug und Seitenwindassistent für ein Fahrzeug |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5035826A (US07179912-20070220-C00144.png) * | 1973-06-22 | 1975-04-04 | ||
JPS5064927A (US07179912-20070220-C00144.png) * | 1973-10-15 | 1975-06-02 | ||
JPS58128962A (ja) * | 1982-01-29 | 1983-08-01 | Hino Motors Ltd | 自動車のかじ取り装置 |
Family Cites Families (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3744587A (en) * | 1971-08-02 | 1973-07-10 | Volkswagenwerk Ag | Steering arrangement for vehicles,especially for motor vehicles,having a compensation for sidewise force affects |
DE2255602A1 (de) * | 1972-11-13 | 1974-05-16 | Bosch Gmbh Robert | Einrichtung zur kompensation von seitenwind- und anderen, eine seitenabweichung eines kraftfahrzeugs bewirkenden kraeften |
JPS5310334B2 (US07179912-20070220-C00144.png) * | 1973-03-01 | 1978-04-13 | ||
DE2322062A1 (de) * | 1973-05-02 | 1974-11-21 | Volkswagenwerk Ag | Lenkeinrichtung fuer fahrzeuge |
DE2348317A1 (de) * | 1973-09-26 | 1975-04-10 | Daimler Benz Ag | Vorrichtung zum kompensieren von quer zur fahrtrichtung auf ein schnell fahrendes fahrzeug einwirkenden kraeften |
JPS5579754A (en) * | 1978-12-08 | 1980-06-16 | Kayaba Ind Co Ltd | Power steering system |
JPS5711173A (en) * | 1980-06-24 | 1982-01-20 | Nissan Motor Co Ltd | Method of controlling steering angle for vehicle capable of steering two sets of wheels |
US4412594A (en) * | 1980-08-27 | 1983-11-01 | Honda Giken Kogyo Kabushiki Kaisha | Steering system for motor vehicles |
JPS5770774A (en) * | 1980-10-20 | 1982-05-01 | Honda Motor Co Ltd | Steering device of vehicle |
JPS5787759A (en) * | 1980-11-18 | 1982-06-01 | Nissan Motor Co Ltd | Method of steering vehicle |
JPS58214470A (ja) * | 1982-06-07 | 1983-12-13 | Nissan Motor Co Ltd | 後輪操舵装置 |
JPS58214457A (ja) * | 1982-06-07 | 1983-12-13 | Nissan Motor Co Ltd | 前輪補助操舵装置 |
US4583172A (en) * | 1982-12-08 | 1986-04-15 | Honda Giken Kogyo Kabushiki Kaisha | Motor vehicle |
JPS60161256A (ja) * | 1984-01-31 | 1985-08-22 | Nissan Motor Co Ltd | 車両の補助操舵方法 |
JPS60161260A (ja) * | 1984-01-31 | 1985-08-22 | Nissan Motor Co Ltd | 車両操舵装置 |
JPH0674052B2 (ja) * | 1984-01-31 | 1994-09-21 | 日産自動車株式会社 | 車両の操舵方法 |
JPH06104455B2 (ja) * | 1985-03-15 | 1994-12-21 | 日産自動車株式会社 | 車両運動状態推定装置 |
-
1984
- 1984-01-31 JP JP59015332A patent/JPS60161256A/ja active Granted
-
1985
- 1985-01-31 DE DE8585101021T patent/DE3567420D1/de not_active Expired
- 1985-01-31 EP EP85101021A patent/EP0150856B1/en not_active Expired
-
1989
- 1989-02-28 US US07/318,470 patent/US4878557A/en not_active Expired - Lifetime
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5035826A (US07179912-20070220-C00144.png) * | 1973-06-22 | 1975-04-04 | ||
JPS5064927A (US07179912-20070220-C00144.png) * | 1973-10-15 | 1975-06-02 | ||
JPS58128962A (ja) * | 1982-01-29 | 1983-08-01 | Hino Motors Ltd | 自動車のかじ取り装置 |
Also Published As
Publication number | Publication date |
---|---|
JPS60161256A (ja) | 1985-08-22 |
EP0150856B1 (en) | 1989-01-11 |
US4878557A (en) | 1989-11-07 |
DE3567420D1 (en) | 1989-02-16 |
EP0150856A2 (en) | 1985-08-07 |
EP0150856A3 (en) | 1986-02-12 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
LAPS | Cancellation because of no payment of annual fees |