JPH0450231B2 - - Google Patents

Info

Publication number
JPH0450231B2
JPH0450231B2 JP59018136A JP1813684A JPH0450231B2 JP H0450231 B2 JPH0450231 B2 JP H0450231B2 JP 59018136 A JP59018136 A JP 59018136A JP 1813684 A JP1813684 A JP 1813684A JP H0450231 B2 JPH0450231 B2 JP H0450231B2
Authority
JP
Japan
Prior art keywords
steering
vehicle
rear wheels
control information
roll angle
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
JP59018136A
Other languages
Japanese (ja)
Other versions
JPS60163769A (en
Inventor
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 JP1813684A priority Critical patent/JPS60163769A/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 JPS60163769A publication Critical patent/JPS60163769A/en
Publication of JPH0450231B2 publication Critical patent/JPH0450231B2/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
    • B62D7/159Steering 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
    • 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

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縦応答
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。
The applicant has already steered not only the front wheels of a vehicle but also the rear wheels depending on certain conditions such as vehicle speed and front wheel steering angle, greatly improving maneuverability and steering response of the vehicle. Various steering devices have been proposed that can improve performance.

ところで、一般に車両が旋回走行する場合、旋
回半径及び車速に応じて車体がロール(横揺れ)
する。またこのロールに応じて左右のサスペンシ
ヨンストロークにストローク差が生じ、このスト
ローク差はサスペンシヨンを構成するリンク機構
で定まる幾可学的なステア変化(バンプステア、
リバウンドステア)、或いはキヤンバ変化を招く。
さらに当該ロールによつて左右のタイヤの接地荷
重の変化をも招き、車両の走行中における車体の
ロールは車両にとつて有害な外乱となつて走行性
能を悪化させる。例えばロール角度に応じて前後
輪のタイヤに作用する横力特性(或いはアンダス
テア特性、オーバステア特性)が変動するが、こ
の場合、コーナリングでハンドルを切り込んでい
くと、ハンドル操作に対する車両の応答特性が変
わり旋回性能が劣化するとともに、それがために
ドライバは修正のための操舵努力を強いられるこ
とになる。したがつて、この場合、斯かる修正の
ための操舵努力を後輪を転舵制御することにより
行いロールの変動を打ち消してやれば当該ロール
の変動による弊害を効果的に排除することができ
る。
By the way, generally when a vehicle turns, the vehicle body rolls (rolls) depending on the turning radius and vehicle speed.
do. In addition, a stroke difference occurs between the left and right suspension strokes depending on this roll, and this stroke difference is caused by geometric steering changes (bump steer,
(rebound steer) or camber change.
Furthermore, the roll causes a change in the ground load of the left and right tires, and the roll of the vehicle body while the vehicle is running becomes a harmful disturbance to the vehicle, deteriorating the running performance. For example, the lateral force characteristics (or understeer characteristics, oversteer characteristics) that act on the front and rear tires change depending on the roll angle, but in this case, when the steering wheel is turned during cornering, the response characteristics of the vehicle to the steering wheel operation change. Turning performance is degraded, which forces the driver to make corrective steering efforts. Therefore, in this case, if the steering effort for such correction is made by controlling the steering of the rear wheels to cancel out the roll fluctuations, the adverse effects caused by the roll fluctuations can be effectively eliminated.

そこで、本発明の目的は車両の旋回走行中にお
ける車体のロール角度変化によるステア変化の影
響を何ら受けることなく、走行性能、特に旋回性
能の向上を図ることにより安定した走行と快適な
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。
SUMMARY OF THE INVENTION Therefore, an object of the present invention is to achieve stable running and comfortable driving by improving driving performance, especially turning performance, without being affected by steering changes due to changes in the roll angle of the vehicle body while the vehicle is turning. The object of the present invention is to provide a vehicle steering device that can be used as a steering device for a vehicle.

本発明は以上の目的を達成するため、後輪の転
舵角を可変制御できる車両の操舵装置に適用し、
その主要構成とするところは走行中における車体
のロール角度を検出する検出手段と、この検出手
段からの検出結果に対応して後輪を転舵する制御
情報、即ち車体のロール角度によつて定まる後輪
のステア量を減少させる方向へ後輪を転舵せしめ
る制御情報を出力する処理手段と、この制御情報
によつて後輪の転舵を制御する制御手段を具備し
てなることを特徴とする。
In order to achieve the above object, the present invention is applied to a vehicle steering system that can variably control the steering angle of the rear wheels.
Its main components are a detection means for detecting the roll angle of the vehicle body while driving, and control information for steering the rear wheels in response to the detection result from this detection means, that is, determined by the roll angle of the vehicle body. The present invention is characterized by comprising a processing means for outputting control information for steering the rear wheels in a direction to reduce the amount of steering of the rear wheels, and a control means for controlling the steering of the rear wheels based on the control information. do.

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に第1図に基づ
き車両の操舵装置の概略構成について説明する。
同図は本発明に係る操舵装置を装備した車両の基
本構造を示す模式的平面図である。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, a schematic configuration of a vehicle steering system will be described based on FIG. 1.
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 same figure 1
is 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 gearbox 3, and converts the steering rotation of the handle 1 into a movement of a tie rod 4 in the width direction of the vehicle body. . This tie rod 4
Both ends of the tie rod 4 are connected to knuckle arms 6, 6 that support the front wheels 5, 5, and are supported so as to be rotatable in the left and right directions. The 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10,
10を回動自在に連結し、このナツクルアーム1
0,10は後輪11,11を支持する。これによ
り前記前輪側の転舵と同様に軸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. Furthermore, the tie rod 9, which passes through the gearbox 7 in a movable manner in the width direction of the vehicle body, has a knuckle arm 10 at both ends.
10 are rotatably connected, and this knuckle arm 1
0 and 10 support the rear wheels 11 and 11. As a result, similar to the steering of the front wheels, the tie rod 9 is displaced in the width direction of the vehicle body by the rotation of the shaft 8a, and the rear wheels 11, 11 are further steered in the desired 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は例えば前輪の舵角を
検出する前輪舵角センサ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の検出信号を受けて
これに対応した制御信号を前輪操舵サーボアクチ
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, or a vehicle speed sensor 13 that detects the steering angle of the front wheels. The front wheel steering servo actuator 8 receives detection signals from various sensors provided as needed, such as a vehicle speed sensor, and supplies corresponding control signals to the front wheel steering servo actuator 8 to steer the rear wheels.

また、14はロール角センサで、例えばジヤイ
ロスコープ等を利用し、車体15のロール角度を
これに比例した電気的信号として検出し、前記コ
ンピユータ12へ供給する。
A roll angle sensor 14 detects the roll angle of the vehicle body 15 as an electrical signal proportional to the roll angle using a gyroscope or the like, and supplies the detected roll angle to the computer 12.

次に、第2図及び第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
及び機能は概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, the computer 12 is connected to various sensors such as the front wheel steering angle sensor 13 shown in FIG. Rear wheel steering information corresponding to the detection result after calculation processing d 0
get. This information d0 is the servo actuator 8
The shaft 8a is rotated by operations such as digital-to-analog conversion, amplification, and motor drive, and the rear wheels 11, 11 are steered. The above configurations and functions have generally been proposed by the 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、前記ロール角
センサ14から検出した車体のロール角度に比例
した検出信号sは演算処理ニによつて予め設定し
たデータホに基づいて当該ロール角度により生じ
たステア量の変動分を減少させる方向へ後輪を転
舵せしめる制御情報d1を生成し出力する。
On the other hand, in the computer 12, a detection signal s proportional to the roll angle of the vehicle body detected from the roll angle sensor 14 is calculated based on data set in advance by arithmetic processing. control information d1 for steering the rear wheels in a direction that decreases the amount of time is generated and output.

つまり、第3図に示す車体のロール角度対ステ
ア量特性Pから明らかな如くステア量はロール角
度の変化に対してサスペンシヨンリンク機構或い
は接地荷重等によつて定まる幾可学的な一定の関
数に従つて変化する。したがつて、この特性Pを
予めデータホとしてプログラムに設定しておけば
容易にステア量を求めることができるとともに、
さらにこのステア量を減少させる(打ち消す)た
めの制御情報d1を演算で得ることができる。な
お、演算処理ニではロール角度の方向(左又は
右)と大きさを同時に求める。
In other words, as is clear from the roll angle vs. steering amount characteristic P of the vehicle body shown in Figure 3, the steering amount is a geometrically constant function determined by the suspension link mechanism, ground load, etc. with respect to changes in the roll angle. It changes according to. Therefore, if this characteristic P is set in the program as data in advance, the amount of steering can be easily determined, and
Furthermore, control information d1 for reducing (cancelling) this steering amount can be obtained by calculation. Note that in the calculation process 2, the direction (left or right) and magnitude of the roll angle are determined at the same time.

以つて、当該制御情報d1は第3図に示した特性
Pを打ち消すように作用し、いわば同図に示した
これとは反対の特性Qを後輪に生じさせるための
機能をもつ。
Therefore, the control information d 1 acts to cancel the characteristic P shown in FIG. 3, so to speak, and has a function of causing the rear wheel to have the opposite characteristic Q shown in the same figure.

そして、この制御情報d1は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±d1
(±は左又は右方向への転舵を示す)となり、ま
た情報d0が存在しないときは単独でアクチエータ
8に供給される。この結果、アクチエータ8は後
輪を転舵し、車体がロールすることによつて生じ
た無用のステア変化量を打ち消し、本来の走行性
能、特に旋回走行時における応答特性に何ら悪影
響を与えない。なお、演算処理ニに於てはこのよ
うな無用なステア変化量を完全に打ち消すような
制御情報d1を生成してもよいし、又は若干の偏差
をもたせた任意のセツテイングでもよい。
Then, this control information d 1 is given to the addition process C, and if the information d 0 exists, the information d 0 ±d 1
(± indicates steering to the left or right), and when the information d 0 does not exist, it is supplied alone to the actuator 8. As a result, the actuator 8 steers the rear wheels, canceling out the unnecessary steering change amount caused by the vehicle body rolling, and having no adverse effect on the original driving performance, especially the response characteristics during cornering. In addition, in the arithmetic processing, control information d1 that completely cancels out such an unnecessary amount of steering change may be generated, or an arbitrary setting with a slight deviation may be used.

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。
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.

このように、本発明に係る車両の操舵装置は旋
回走行中における車体のロール角度変化によるス
テア変化を後輪の転舵制御により有効に減少せし
めることができるため、ステア変化による悪影響
を何ら受けることなく走行性能、特に旋回性能の
向上を図ることにより安定した走行と快適な運転
を行うことができる。
As described above, the vehicle steering system according to the present invention can effectively reduce steering changes caused by changes in the roll angle of the vehicle body during turning, by controlling the steering of the rear wheels. By improving running performance, especially turning performance, it is possible to achieve stable running and comfortable driving.

【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、13は前輪舵角セン
サ、14はロール角センサ、15は車体、イ,ホ
はデータ、ロ,ニは演算処理、d1は制御情報であ
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-vehicle computer, 13 is a front wheel steering angle sensor, 14 is a roll angle sensor, 15 is a vehicle body, A and H are data, B and D are arithmetic processing, and d1 is control information.

Claims (1)

【特許請求の範囲】 1 後輪の転舵角を可変できる車両の操舵装置に
おいて、 走行中における車体のロール角度を検出する検
出手段と、 この検出手段からの検出結果に対応して後輪を
転舵する制御情報を出力する処理手段と、 この処理手段からの制御情報によつて後輪の転
舵を制御する制御手段とを具備してなり、 且つ前記処理手段は車体のロール角度によつて
定まる後輪のステア量を減少させる方向へ後輪を
転舵せしめる制御情報を出力することを特徴とす
る車両の操舵装置。
[Scope of Claims] 1. A steering system for a vehicle that can vary the steering angle of the rear wheels, comprising a detection means for detecting the roll angle of the vehicle body while the vehicle is running; The vehicle comprises a processing means for outputting control information for steering, and a control means for controlling steering of the rear wheels based on the control information from the processing means, and the processing means outputs control information for steering according to the roll angle of the vehicle body. A steering device for a vehicle, characterized in that the steering device outputs control information for steering the rear wheels in a direction that reduces the amount of steering of the rear wheels determined by the amount of steering of the rear wheels.
JP1813684A 1984-02-02 1984-02-02 Steering device for vehicle Granted JPS60163769A (en)

Priority Applications (4)

Application Number Priority Date Filing Date Title
JP1813684A JPS60163769A (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
JP1813684A JPS60163769A (en) 1984-02-02 1984-02-02 Steering device for vehicle

Publications (2)

Publication Number Publication Date
JPS60163769A JPS60163769A (en) 1985-08-26
JPH0450231B2 true JPH0450231B2 (en) 1992-08-13

Family

ID=11963183

Family Applications (1)

Application Number Title Priority Date Filing Date
JP1813684A Granted JPS60163769A (en) 1984-02-02 1984-02-02 Steering device for vehicle

Country Status (1)

Country Link
JP (1) JPS60163769A (en)

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS59206261A (en) * 1983-05-10 1984-11-22 Kayaba Ind Co Ltd Four-wheel steering mechanism

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS59206261A (en) * 1983-05-10 1984-11-22 Kayaba Ind Co Ltd Four-wheel steering mechanism

Also Published As

Publication number Publication date
JPS60163769A (en) 1985-08-26

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