JPH0376271B2 - - Google Patents
Info
- Publication number
- JPH0376271B2 JPH0376271B2 JP59049888A JP4988884A JPH0376271B2 JP H0376271 B2 JPH0376271 B2 JP H0376271B2 JP 59049888 A JP59049888 A JP 59049888A JP 4988884 A JP4988884 A JP 4988884A JP H0376271 B2 JPH0376271 B2 JP H0376271B2
- Authority
- JP
- Japan
- Prior art keywords
- steering
- vehicle
- wheels
- wheel
- 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
Links
- 238000001514 detection method Methods 0.000 claims description 5
- 230000006870 function Effects 0.000 description 13
- 238000000034 method Methods 0.000 description 11
- 230000008569 process Effects 0.000 description 11
- 230000005540 biological transmission Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 5
- 230000004044 response Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000010365 information processing Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 206010067482 No adverse event Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- FFBHFFJDDLITSX-UHFFFAOYSA-N benzyl N-[2-hydroxy-4-(3-oxomorpholin-4-yl)phenyl]carbamate Chemical compound OC1=C(NC(=O)OCC2=CC=CC=C2)C=CC(=C1)N1CCOCC1=O FFBHFFJDDLITSX-UHFFFAOYSA-N 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 230000008961 swelling Effects 0.000 description 1
Classifications
-
- 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
- B62D7/1509—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 with different steering modes, e.g. crab-steering, or steering specially adapted for reversing of the vehicle
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Description
【発明の詳細な説明】
(技術分野)
本発明は四輪自動車等の車両の前後輪操舵装置
に関する。DETAILED DESCRIPTION OF THE INVENTION (Technical Field) The present invention relates to a front and rear wheel steering device for a vehicle such as a four-wheeled vehicle.
(従来技術)
一般の前輪操舵にのみよる車両、或るいは最近
提案されている前輪とともに後輪をも転舵するこ
とにより前後操舵を行う車両(例えば本出願人が
提案した特開昭56−5270号等)、いずれにおいて
も操舵は前輪のみ又は前輪が主に行い、後輪を転
舵するも、これは常に前輪の転舵量よりも少ない
補助的な操舵作用を行うのみである。(Prior art) Vehicles that use general front wheel steering only, or recently proposed vehicles that perform front-rear steering by steering both the front wheels and the rear wheels (for example, Japanese Patent Application Laid-Open No. 1983-1983 proposed by the present applicant). No. 5270, etc.), in both cases, steering is performed only or primarily by the front wheels, and although the rear wheels are steered, this only performs an auxiliary steering action that is always smaller than the amount of steering of the front wheels.
このため、従来の操舵装置においては車両が後
退走行モードで旋回する場合第4図の如き旋回軌
跡を描くことになる。つまり、前輪40の転舵角
は後輪41の転舵角よりも大きく、車両42の重
心位置G1の旋回軌跡P1は旋回初期で前輪40
が大きく振れるため先ず外側(矢印F1)に膨ら
み、この後旋回すべき方向である内側へ入つてく
る。 Therefore, in the conventional steering system, when the vehicle turns in the backward travel mode, it draws a turning trajectory as shown in FIG. 4. In other words, the steering angle of the front wheels 40 is larger than the steering angle of the rear wheels 41, and the turning trajectory P1 of the center of gravity G1 of the vehicle 42 is
Since it swings greatly, it first bulges outward (arrow F1), and then moves inward, which is the direction in which it should turn.
したがつて、従来の操舵装置を装備する車両に
おいては後退時の運転が難しく、運転者はあまり
高くない走行速度でないと車両を安定させて後退
せしめることができない不具合がある。 Therefore, in a vehicle equipped with a conventional steering device, it is difficult to drive the vehicle in reverse, and the driver cannot stabilize the vehicle and drive the vehicle in reverse unless the vehicle is running at a very high speed.
(発明の目的)
本発明の目的は車両が後退走行モードで旋回す
る場合における操舵装置の改良を図つたもので、
後退旋回時の車両の取り廻し性を大幅に向上させ
ることにより後退旋回を安定且つ容易に行うこと
ができる車両の前後輪操舵装置を提供することに
ある。(Object of the Invention) The object of the present invention is to improve a steering device when a vehicle turns in reverse driving mode.
An object of the present invention is to provide a front and rear wheel steering device for a vehicle that can stably and easily perform a backward turn by greatly improving the maneuverability of the vehicle during a backward turn.
(発明の構成)
本発明に斯かる目的を達成すべく前輪と後輪を
夫々転舵する転舵手段と車両の走行方向を検出す
る走行方向検知手段を備え、ステアリングハンド
ルの操舵で前輪及び後輪を転舵できる車両の前後
輪操舵装置において、
前記走行方向検知手段で検知された走行方向側
の転舵手段によりハンドル角に応じて走行方向側
の車輪を転舵すると共に他方の転舵手段により他
方の車輪を直進走行位置に固定するものである。(Structure of the Invention) In order to achieve the above object, the present invention is provided with a steering means for steering the front wheels and the rear wheels respectively, and a traveling direction detecting means for detecting the traveling direction of the vehicle, and the front wheels and the rear wheels can be steered by steering the steering wheel. In a front and rear wheel steering device for a vehicle that can steer wheels, the steering means on the traveling direction side detected by the traveling direction detection means steers the wheels on the traveling direction side according to the steering wheel angle, and the other steering means This fixes the other wheel in the straight-ahead position.
また、前輪と後輪を夫々転舵する転舵手段と車
両の走行方向を検出する走行方向検知手段を備
え、ステアリングハンドルの操舵で前輪及び後輪
を転舵できる車両の前後輪操舵装置において、
前記走行方向検知手段で検知された走行方向側
の転舵手段によりハンドル角に応じて走行方向側
の車輪を転舵すると共に少なくとも後退走行時に
は前輪を後輪の転舵量より小さい転舵量で、且つ
後輪の転舵角に対し、所定の転舵比で転舵するも
のである。 Further, a front and rear wheel steering device for a vehicle is provided with a steering means for steering the front wheels and the rear wheels, and a driving direction detection means for detecting the driving direction of the vehicle, and is capable of steering the front wheels and the rear wheels by steering the steering wheel. The steering means on the traveling direction side detected by the traveling direction detecting means steers the wheels on the traveling direction side according to the steering wheel angle, and at least when traveling in reverse, the front wheels are steered by an amount smaller than the amount of steering of the rear wheels. , and steers at a predetermined steering ratio with respect to the steering angle of the rear wheels.
(実施例)
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。(Example) Below, preferred examples that further embody the present invention will be described in detail with reference to the drawings.
図面に於て、第1図は本発明に係る前後輪操舵
装置を装備した車両の基本構造を示す模式的平面
図である。先ず、本発明を明確にするため同図に
基づき車両の前後輪操舵装置の全体的概略構成に
ついて説明する。 In the drawings, FIG. 1 is a schematic plan view showing the basic structure of a vehicle equipped with a front and rear wheel steering device according to the present invention. First, in order to clarify the present invention, the overall schematic configuration of a front and rear wheel steering system of a vehicle will be described based on the same drawing.
図中符号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はハンドル1の操舵
角(ハンドル回転角)の大きさも検出するハンド
ル角センサ3に結合し、このハンドル角センサ3
からはハンドル回転角に比例した大きさのハンド
ル角データを得る。 The reference numeral 1 in the figure is a steering handle, and the steering shaft 2 of this handle 1 is coupled to a steering wheel angle sensor 3 that also detects the magnitude of the steering angle (steering wheel rotation angle) of the steering wheel 1.
From this, we obtain steering wheel angle data whose size is proportional to the steering wheel rotation angle.
一方、車両には車載コンピユータ4を搭載し、
前記ハンドル角センサ3のハンドル角データを入
力データとして当該コンピユータ4に入力せしめ
る。コンピユータ4に於て、例えば前進走行モー
ドでは当該ハンドル角データに基づき、これに略
比例し、且つ前輪をハンドル1の操舵方向へ転舵
せしめる前輪転舵制御情報S1を生成出力し、前
輪操舵サーボアクチエータ5に供給する。 On the other hand, the vehicle is equipped with an on-board computer 4,
The steering wheel angle data from the steering wheel angle sensor 3 is input to the computer 4 as input data. For example, in the forward running mode, the computer 4 generates and outputs front wheel steering control information S1 that is approximately proportional to the steering wheel angle data and turns the front wheels in the steering direction of the steering wheel 1, and controls the front wheel steering servo. is supplied to the actuator 5.
この前輪操舵サーボアクチエータ5は増幅回
路、駆動モータ等からサーボ系を構成し、前輪転
舵制御情報S1に略比例して伝達軸5aを回転せ
しめる。伝達軸5aは例えばラツク&ピニオン方
式によるステアリングギヤ機構を内装した前輪ギ
ヤボツクス6に接続する。このギヤボツクス6に
はこれに貫通し、伝達軸5aの回転によつて車幅
方向へ移動するタイロツド7が設けられ、このタ
イロツド7の両端にはナツクルアーム8,8を回
動自在に連結する。ナツクルアーム8,8は前輪
9,9を支持し、以つて、伝達軸5aの回転、つ
まり、ハンドル1の操舵回転によつて、この回転
に略比例して前輪9,9を所要の方向へ転舵せし
める。 The front wheel steering servo actuator 5 constitutes a servo system including an amplifier circuit, a drive motor, etc., and rotates the transmission shaft 5a substantially in proportion to the front wheel steering control information S1. The transmission shaft 5a is connected to a front wheel gear box 6 which includes a steering gear mechanism of the rack and pinion type, for example. This gearbox 6 is provided with a tie rod 7 that penetrates through it and moves in the vehicle width direction by rotation of the transmission shaft 5a, and knuckle arms 8 are rotatably connected to both ends of the tie rod 7. The knuckle arms 8, 8 support the front wheels 9, 9, and rotate the front wheels 9, 9 in a desired direction approximately in proportion to the rotation of the transmission shaft 5a, that is, the steering rotation of the handle 1. Let me steer.
他方、コンピユータ4に於ては前記ハンドル角
センサ3のハンドル角データに略比例し、さらに
車速センサ10から得る車速に比した車速データ
等によつて比例定数を可変して後輪転舵制御情報
S2を生成出力する。この後輪転舵制御情報は例
えば前進走行モードに於て高速走行時に後輪を前
輪に対し同位相方向へ転舵し、他方低速走行時に
は前輪に対し逆位相方向へ転舵するための内容を
有する。 On the other hand, the computer 4 generates rear wheel steering control information S2 by varying a proportionality constant approximately proportional to the steering wheel angle data from the steering wheel angle sensor 3 and further based on vehicle speed data compared to the vehicle speed obtained from the vehicle speed sensor 10. Generate and output. This rear wheel steering control information has, for example, content for steering the rear wheels in the same phase direction as the front wheels when driving at high speed in forward driving mode, and steering the rear wheels in the opposite phase direction with respect to the front wheels when driving at low speed. .
そして、この後輪転舵制御情報S2は後輪転舵
サーボアクチエータ11に供給される。このサー
ボアクチエータ11も前記前輪転舵サーボアクチ
エータ5と同様に増幅回路、駆動モータ等からサ
ーボ系を構成し、後輪転舵制御情報S2に対応し
て伝達軸11aを回転せしめる。伝達軸11aは
例えばラツク&ピニオン方式によるリヤギヤ機構
を内装した後輪ギヤボツクス12に接続する。ギ
ヤボツクス12にはこれに貫通し、伝達軸11a
の回転によつて車幅方向へ移動するタイロツド1
3が設けられ、このタイロツド13の両端にはナ
ツクルアーム14,14を回動自在に連結する。
ナツクルアーム14,14は後輪15,15を支
持し、以つて、伝達軸11aの回転、つまり後輪
転舵制御情報S2に対応して後輪15,15を前
述した所要の方向へ転舵せしめる。これにより後
輪にも補助的操舵機能をもたせ、例えば高速走行
時には同位相転舵により操縦応答性を大幅に向上
せしめるとともに、低速走行時には逆位相転舵に
より取り廻し性を大幅に向上せしめることができ
る前後輪操舵装置を構成する。 This rear wheel steering control information S2 is then supplied to the rear wheel steering servo actuator 11. Like the front wheel steering servo actuator 5, this servo actuator 11 also constitutes a servo system including an amplifier circuit, a drive motor, etc., and rotates the transmission shaft 11a in response to the rear wheel steering control information S2. The transmission shaft 11a is connected to a rear wheel gear box 12 which includes a rear gear mechanism of the rack and pinion type, for example. A transmission shaft 11a passes through the gearbox 12.
Tie rod 1 moves in the vehicle width direction due to the rotation of
3 is provided, and knuckle arms 14, 14 are rotatably connected to both ends of this tie rod 13.
The knuckle arms 14, 14 support the rear wheels 15, 15, and thereby steer the rear wheels 15, 15 in the above-mentioned required direction in response to the rotation of the transmission shaft 11a, that is, the rear wheel steering control information S2. This allows the rear wheels to have an auxiliary steering function. For example, when driving at high speeds, in-phase steering can greatly improve steering response, while when driving at low speeds, anti-phase steering can greatly improve maneuverability. Construct a front and rear wheel steering system that can be used.
次に、第1図及び第2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。な
お、第2図は本発明の要部である前後輪操舵のた
めの情報処理系の機能ブロツク図である。 Next, the configuration and functions of the main parts of the present invention will be specifically explained with reference to FIGS. 1 and 2. Incidentally, FIG. 2 is a functional block diagram of an information processing system for front and rear wheel steering, which is a main part of the present invention.
先ず、本発明に係る第1の特徴に基づく要部の
構成及び各部の機能を述べる。本発明に於てコン
ピユータ4には前記ハンドル角センサ3、車速セ
ンサ10が最小源接続され入力データとなる。な
お、車速センサ10は車速に比例した車速データ
を得るとともに、車両の進行方向、つまり前進走
行モードにあるか、又は後退走行モードにあるか
を検出する走行方向センサの機能を兼用する。な
お、別途走行方向センサを設けてもよい。よつ
て、車速センサ10又は別途設けた前記走行方向
センサにより走行方向検知手段が構成されてい
る。また、コンピユータ4にはマニユアル選択ス
イツチ16を接続し、運転車が車室内でマニユア
ル的に操作することによりマニユアルで所要の入
力データをインプツトできるようにする。このマ
ニユアル選択スイツチ16については後に詳述す
る。 First, the configuration of main parts and the functions of each part based on the first feature of the present invention will be described. In the present invention, the above-mentioned steering wheel angle sensor 3 and vehicle speed sensor 10 are connected to the computer 4 as input data. The vehicle speed sensor 10 obtains vehicle speed data proportional to the vehicle speed, and also functions as a traveling direction sensor that detects the traveling direction of the vehicle, that is, whether the vehicle is in the forward traveling mode or the backward traveling mode. Note that a traveling direction sensor may be provided separately. Therefore, the vehicle speed sensor 10 or the separately provided traveling direction sensor constitutes a traveling direction detecting means. Further, a manual selection switch 16 is connected to the computer 4 so that required input data can be input manually by the driver in the vehicle interior. This manual selection switch 16 will be explained in detail later.
本発明は後退走行モードのみおける構成に関す
るものであり前進走行モードについては前述した
概略構成の通りである。 The present invention relates to a configuration that can be used only in the backward traveling mode, and the forward traveling mode has the same general configuration as described above.
今、運転者がシフトレバーを操作し後退走行モ
ードに切換えた場合を想定する。これにより、車
速センサ10からは走行方向を表すデータd1が
コンピユータ4へ入力し、このデータd1は判別
処理イに与えられる。この判別処理イはデータd
1が後退走行モードにあることを判別(読取り)
し、この結果d2を第1演算処理ロに付与する。
この第1演算処理ロは前進走行モードに於てはハ
ンドル角センサ3のハンドル角データd3に略比
例して前輪転舵アクチエータ5へ前記前輪転舵制
御情報S1を供給するものでメモリハ内に記憶設
定されたデータ、例えば比例定数K1によつて、
(S1)=(K1)・(d3)の演算処理を行うものであ
る。しかし、上記判別結果d2によつてこの比例
定数K1は零に固定される。つまり、前輪9,9
は左右いずれにも転舵されない直進走行位置に固
定されることになる。 Now, assume that the driver operates the shift lever to switch to reverse driving mode. As a result, data d1 representing the traveling direction is input from the vehicle speed sensor 10 to the computer 4, and this data d1 is provided to the determination process 1. This discrimination process is based on data d.
1 is in reverse driving mode (read)
Then, this result d2 is given to the first arithmetic processing unit.
In the forward running mode, this first calculation process supplies the front wheel steering control information S1 to the front wheel steering actuator 5 in approximately proportion to the steering wheel angle data d3 of the steering wheel angle sensor 3, and is stored in the memory. Depending on the set data, for example proportionality constant K1,
It performs the calculation process of (S1)=(K1)・(d3). However, this proportionality constant K1 is fixed to zero based on the above-mentioned determination result d2. In other words, front wheels 9,9
is fixed in a straight running position where it is not steered to the left or right.
他方、同時に判別結果d2は第2演算処理ニに
付与される。この第2演算処理ニは前進走行モー
ドに於てはハンドル角センサ3のハンドル角デー
タd3に略比例し、しかも、車速センサ10から
得る車速に比例した車速データd4に基づく所定
の関数に対応して前記後輪転舵制御情報S2を前
記後輪転舵アクチエータ11に供給するものであ
り、前述した前輪側と同様にメモリハ内のデータ
であるハンドル角(データd3)を変数とする比
例定数K2及び車速に対応した関数(f(d4))
によつて演算処理を行う。ところが、後退走行モ
ードでは判別結果d2によつてメモリハ内のデー
タから例えば前記前輪側の前進走行モードにおけ
る比例定数K1と略同じ大きさの比例定数K3が
第2演算処理ニに付与され、このときの後輪転舵
制御情報S3は(S3)=(K3)・(d3)の演算処理
を行う。 On the other hand, at the same time, the determination result d2 is applied to the second arithmetic processing. This second calculation process d corresponds to a predetermined function based on vehicle speed data d4 that is approximately proportional to the steering wheel angle data d3 from the steering wheel angle sensor 3 and proportional to the vehicle speed obtained from the vehicle speed sensor 10 in the forward running mode. and supplies the rear wheel steering control information S2 to the rear wheel steering actuator 11, and similarly to the front wheel side described above, a proportionality constant K2 and vehicle speed whose variables are the steering wheel angle (data d3) which is data in the memory. The function corresponding to (f(d4))
Computation processing is performed by However, in the backward running mode, based on the determination result d2, a proportionality constant K3, which is approximately the same size as the proportionality constant K1 in the forward running mode for the front wheels, is assigned to the second calculation process 2 from the data in the memory. The rear wheel steering control information S3 performs the calculation process of (S3)=(K3)·(d3).
以上が、本発明に係る第1の特徴に基づく構成
であり、次に斯る構成の全体的機能を述べる。車
速センサ10によつて後退走行モードが検出され
るとコンピユータ4もその機能において後退走行
モードに移行する。そして、前輪9,9は上述の
如く自動的に直進走行位置に固定され、後輪1
5,15はハンドル1の操舵角に比例して転舵さ
れる。しかも、比例定数K3の選択によりこの転
舵量の大きさは前進走行モードにおける前輪の転
舵量と略同じとなる。つまり、換言すれば後退走
行モードに於ては従来の前輪のみの操舵装置に対
しこれらの前輪と後輪を夫々反対に入れ替えたシ
ステムとなる。 The above is the configuration based on the first feature of the present invention, and next, the overall function of this configuration will be described. When the vehicle speed sensor 10 detects the reverse travel mode, the computer 4 also switches to the reverse travel mode. The front wheels 9, 9 are automatically fixed in the straight running position as described above, and the rear wheels 1
5 and 15 are steered in proportion to the steering angle of the handle 1. Moreover, by selecting the proportionality constant K3, the magnitude of this steering amount becomes approximately the same as the amount of steering of the front wheels in the forward running mode. In other words, in the reverse travel mode, the system becomes a system in which the front wheels and the rear wheels are respectively reversed in contrast to the conventional steering system that only controls the front wheels.
次に、本発明に係る第2の特徴に基づく構成及
び機能について説明する。 Next, the configuration and function based on the second feature of the present invention will be explained.
前述した第1の特徴に基づく構成が前輪を直進
走行位置に固定するのに対し、第2の特徴とする
ところは、さらに前輪にも補助的操舵機能をもた
せた点にある。つまり、後輪の操舵は第1の特徴
に係る構成と同一であるが、前輪の操舵は判別結
果d2によつて、次の処理を行う。先ず第1の演
算処理ロに於てはメモリハから比例定数K4が与
えられ前輪転舵制御情報S4を得るべく(S4)=
(K4)・(d3)の演算処理を実行する。なお、この
比例定数K4は後輪側の比例定数K3より小さ
い。つまり(K4)<(K3)となるように前輪が後
輪転舵角に対し所定の転舵比で転舵されるように
する。これにより前輪の転舵量は後輪の転舵量に
対し常に小さくなるとともに転舵方向が設定され
る。この転舵比は予め設定されたデータによつて
自動設定されるようにしてもよいし、又第2図の
如く前記マニユアル選択スイツチ16によつて運
転者の手動操作で選択できるようにしてもよい。
この場合、複数のスイツチ鉛16a,16b,1
6c…を設けることにより任意に選択できるよう
にし、例えば、各スイツチ鉛に対応して前記比定
数K4を(+K4−2),(+K4−1),(0),(−
K4−1),(−K4−2)、〔ただし(+K4−2)>
(+K4−1)>(0)>(−K4−1)>(−K4−2)〕
の如く任意複数設定し、この中から選択できるよ
うにする、これにより、後退走行モードに於ても
例えば前輪を後輪に対し逆位相方向へ転舵し、路
地等の急カーブにおける最小旋回半径を可及的に
小としたり、或るいは前輪を後輪に対し同位相方
向へ転舵し、駐車時等の幅寄せを行い易くする等
により車両の取り廻し性を大幅に向上させること
ができる。 While the configuration based on the first feature described above fixes the front wheels in a straight-ahead running position, the second feature is that the front wheels also have an auxiliary steering function. In other words, the steering of the rear wheels is the same as the configuration according to the first feature, but the steering of the front wheels performs the following process based on the determination result d2. First, in the first arithmetic processing B, a proportionality constant K4 is given from the memory, and in order to obtain front wheel steering control information S4 (S4)=
Execute the arithmetic processing of (K4) and (d3). Note that this proportionality constant K4 is smaller than the proportionality constant K3 on the rear wheel side. In other words, the front wheels are steered at a predetermined steering ratio relative to the rear wheel steering angle so that (K4)<(K3). As a result, the amount of steering of the front wheels is always smaller than the amount of steering of the rear wheels, and the steering direction is set. This steering ratio may be automatically set using preset data, or may be manually selected by the driver using the manual selection switch 16 as shown in FIG. good.
In this case, a plurality of switch leads 16a, 16b, 1
6c... can be arbitrarily selected, for example, the specific constant K4 can be set to (+K4-2), (+K4-1), (0), (-
K4-1), (-K4-2), [However (+K4-2)>
(+K4-1)>(0)>(-K4-1)>(-K4-2)]
For example, even in reverse driving mode, the front wheels are steered in the opposite phase direction to the rear wheels, and the minimum turning radius at sharp curves such as on alleys is set. It is possible to greatly improve the maneuverability of the vehicle by making it as small as possible, or by steering the front wheels in the same phase direction as the rear wheels to make it easier to pull the wheels closer together when parking. can.
次に、第3図を参照して本発明の作用を説明す
る。第3図は本発明に係る前後輪操舵装置を装備
した車両の模式的平面を示す作用説明図である。
同図の如く、後輪15,15の転舵角はハンドル
1の操舵角に比例して設定されるとともに、前輪
9,9はこの後輪15,15の転舵量より常に小
さく転舵される。第3図は前輪9,9を第1の特
徴に基づく直進走行位置に固定した状態を示す。
この場合、車両17の重心位置G2の旋回軌跡P
2は旋回直後から旋回するべき方向である内側
(矢印(F2))へ素直に入つて来る。したがつて、
従来(第4図)車両の如き旋回初期に外側(第4
図矢印(F1))に膨らんで偏移動するような弊害
は生じない。 Next, the operation of the present invention will be explained with reference to FIG. FIG. 3 is a functional explanatory diagram showing a schematic plan view of a vehicle equipped with a front and rear wheel steering device according to the present invention.
As shown in the figure, the turning angle of the rear wheels 15, 15 is set in proportion to the steering angle of the steering wheel 1, and the front wheels 9, 9 are always turned smaller than the turning amount of the rear wheels 15, 15. Ru. FIG. 3 shows a state in which the front wheels 9, 9 are fixed in the straight running position based on the first feature.
In this case, the turning trajectory P of the center of gravity position G2 of the vehicle 17
2 obediently enters the inside direction (arrow (F2)), which is the direction in which it should turn, immediately after turning. Therefore,
Conventional (Fig. 4) The outside (fourth
No adverse effects such as swelling and shifting in the direction shown by the arrow (F1) in the figure occur.
以上、コンピユータ4における各処理は予めメ
モリに記憶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。また、図面に於ては本
発明を構成するに必要な最小限の機能を示したも
のであり、その他コンピユータ4を機能させるに
必要な入出力インタフエース等の付属装置類は省
略してある。なお、コンピユータ4の代わりに同
機能を有する電気的回路でもよいし、或るいは機
械的な構成において機械的に連結部を切換える等
によつても同様に実施することができる。また、
コンピユータ4において設定される比例定数は所
定の変数に対応した関数としても適用することが
できる。 As described above, each process in the computer 4 is executed according to the control program (software) stored in the memory in advance. Further, the drawings only show the minimum functions necessary to constitute the present invention, and other accessory devices such as input/output interfaces required to make the computer 4 function are omitted. Note that the computer 4 may be replaced by an electrical circuit having the same function, or by mechanically switching the connecting portions in a mechanical configuration. Also,
The proportionality constant set in the computer 4 can also be applied as a function corresponding to a predetermined variable.
(発明の効果)
このように、本発明は走行方向検知手段によつ
て前進あるいは後退走行のいずれであるか判断し
て、望ましい操舵特性を得ることができるので運
転者は通常の運転操作のみに専念できる。後退旋
回時の車両の取り廻し性が大幅に向上し、以つ
て、車速が比較的高い状態に於ても後退旋回を安
定且つ容易に行うことができる効果を得る(Effects of the Invention) As described above, the present invention can determine whether the vehicle is traveling forward or backward using the traveling direction detection means and obtain desirable steering characteristics, so that the driver can perform only normal driving operations. I can concentrate on it. Maneuverability of the vehicle when turning backwards is greatly improved, thereby achieving the effect that backward turns can be performed stably and easily even at relatively high vehicle speeds.
第1図は本発明に係る前後輪操舵装置を装備し
た車両の基本構造を示す模式的平面図、第2図は
本発明の要部である前後輪操舵のための情報処理
系の機能ブロツク図、第3図は本発明に係る前後
輪操舵装置を装備した車両の模式的平面を示す作
用説明図、第4図は従来技術における不具合を説
明するための車両の模式的平面を示す説明図であ
る。
尚図面中、1はステアリングハンドル、3はハ
ンドル角センサ、4は車載コンピユータ、5は前
輪転舵サーボアクチエータ、9,9は前輪、10
は車速センサ、11は後輪転舵サーボアクチエー
タ、15,15は後輪、16はマニユアル選択ス
イツチ、イは判別処理、ロは第1演算処理、ハは
メモリ、ニは第2演算処理、S3は後輪転舵制御
情報、S4は前輪転舵制御情報である。
FIG. 1 is a schematic plan view showing the basic structure of a vehicle equipped with a front and rear wheel steering device according to the present invention, and FIG. 2 is a functional block diagram of an information processing system for front and rear wheel steering, which is the main part of the present invention. , FIG. 3 is an operational explanatory diagram showing a schematic plan view of a vehicle equipped with a front and rear wheel steering device according to the present invention, and FIG. 4 is an explanatory diagram showing a schematic plan view of a vehicle for explaining problems in the prior art. be. In the drawing, 1 is a steering wheel, 3 is a steering wheel angle sensor, 4 is an on-board computer, 5 is a front wheel steering servo actuator, 9 is a front wheel, and 10 is a front wheel steering servo actuator.
1 is a vehicle speed sensor, 11 is a rear wheel steering servo actuator, 15, 15 is a rear wheel, 16 is a manual selection switch, A is a discrimination process, B is a first calculation process, C is a memory, D is a second calculation process, S3 is rear wheel steering control information, and S4 is front wheel steering control information.
Claims (1)
走行方向を検出する走行方向検知手段を備え、ス
テアリングハンドルの操舵で前輪及び後輪を転舵
できる車両の前後輪操舵装置において、 前記走行方向検知手段で検知された走行方向側
の転舵手段によりハンドル角に応じて走行方向側
の車輪を転舵すると共に他方の転舵手段により他
方の車輪を直進走行位置に固定することを特徴と
する車両の前後輪操舵装置。 2 前輪と後輪を夫々転舵する転舵手段と車両の
走行方向を検出する走行方向検知手段を備え、ス
テアリングハンドルの操舵で前輪及び後輪を転舵
できる車両の前後輪操舵装置において、 前記走行方向検知手段で検知された走行方向側
の転舵手段によりハンドル角に応じて走行方向側
の車輪を転舵すると共に少なくとも後退走行時に
は前輪を後輪の転舵量より小さい転舵量で、且つ
後輪の転舵角に対し、所定の転舵比で転舵するこ
とを特徴とする車両の前後輪操舵装置。[Scope of Claims] 1. A vehicle that is equipped with a steering means for steering the front wheels and the rear wheels, respectively, and a running direction detection means for detecting the running direction of the vehicle, and the front and rear wheels of the vehicle can be steered by steering the steering wheel. In the wheel steering device, the steering means on the traveling direction side detected by the traveling direction detecting means steers the wheels on the traveling direction side according to the steering wheel angle, and the other steering means moves the other wheel to a straight traveling position. A front and rear wheel steering device for a vehicle, characterized in that the steering device is fixed to the front and rear wheels of a vehicle. 2. A front and rear wheel steering device for a vehicle, which is equipped with a steering means for steering the front wheels and the rear wheels, respectively, and a running direction detection means for detecting the running direction of the vehicle, and is capable of steering the front wheels and the rear wheels by steering the steering wheel, as described above. The steering means on the traveling direction side detected by the traveling direction detecting means steers the wheels on the traveling direction side according to the steering wheel angle, and at least when traveling backward, the front wheels are steered by an amount smaller than the amount of steering of the rear wheels. A front and rear wheel steering device for a vehicle is characterized in that the front and rear wheels of the vehicle are steered at a predetermined steering ratio with respect to the steering angle of the rear wheels.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP4988884A JPS60193774A (en) | 1984-03-15 | 1984-03-15 | Front and rear wheels steering apparatus for car |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP4988884A JPS60193774A (en) | 1984-03-15 | 1984-03-15 | Front and rear wheels steering apparatus for car |
Publications (2)
Publication Number | Publication Date |
---|---|
JPS60193774A JPS60193774A (en) | 1985-10-02 |
JPH0376271B2 true JPH0376271B2 (en) | 1991-12-04 |
Family
ID=12843570
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP4988884A Granted JPS60193774A (en) | 1984-03-15 | 1984-03-15 | Front and rear wheels steering apparatus for car |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPS60193774A (en) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6291374A (en) * | 1985-10-17 | 1987-04-25 | Toyota Motor Corp | Rear wheel steering control device for front and rear wheel steering vehicle |
JPH03224871A (en) * | 1990-01-23 | 1991-10-03 | Iseki & Co Ltd | Four-wheel steering device for motive power vehicle |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS4917172A (en) * | 1972-05-23 | 1974-02-15 |
-
1984
- 1984-03-15 JP JP4988884A patent/JPS60193774A/en active Granted
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS4917172A (en) * | 1972-05-23 | 1974-02-15 |
Also Published As
Publication number | Publication date |
---|---|
JPS60193774A (en) | 1985-10-02 |
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