JPS63103766A - Four-wheel steering control device for vehicle - Google Patents
Four-wheel steering control device for vehicleInfo
- Publication number
- JPS63103766A JPS63103766A JP25034486A JP25034486A JPS63103766A JP S63103766 A JPS63103766 A JP S63103766A JP 25034486 A JP25034486 A JP 25034486A JP 25034486 A JP25034486 A JP 25034486A JP S63103766 A JPS63103766 A JP S63103766A
- Authority
- JP
- Japan
- Prior art keywords
- road surface
- steering ratio
- vehicle
- same phase
- phase steering
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000008014 freezing Effects 0.000 claims abstract description 4
- 238000007710 freezing Methods 0.000 claims abstract description 4
- 238000001514 detection method Methods 0.000 claims description 8
- 230000004044 response Effects 0.000 claims description 4
- 230000006870 function Effects 0.000 abstract description 23
- 230000006866 deterioration Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 9
- 238000006243 chemical reaction Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 3
- 230000007423 decrease Effects 0.000 description 2
- 230000002542 deteriorative effect Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 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
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)
Abstract
Description
【発明の詳細な説明】
（産業上の利用分野）
本発明は、前輪の操舵に応じて後輪を操舵する車両の四
輪操舵制御装置に関する。DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a four-wheel steering control device for a vehicle that steers rear wheels in response to steering of front wheels.
（従来の技術）
車両の操舵性能は車両速度の影響が大きく、このため従
来より車両速度に対する操縦性部を向上せしめるため、
四輪操舵車両においては、例えば特願昭５７−１３４８
８９号に示されるように、車両が高速走行状態になるに
伴い、後輪を前輪と同位相に転舵する比率（同位相転舵
比）を大きくするようにしたものが知られている。(Prior art) The steering performance of a vehicle is greatly influenced by the vehicle speed. Therefore, in order to improve the maneuverability with respect to the vehicle speed,
For four-wheel steering vehicles, for example, Japanese Patent Application No. 57-1348
As shown in No. 89, a vehicle is known in which the ratio at which the rear wheels are steered in the same phase as the front wheels (in-phase steering ratio) is increased as the vehicle moves at high speed.
そしてこのような制御に際しても、前記車速に対する同
位相転舵比は車速の連続関数として与えるようにすると
ともに、このｒＡ数を複数用意しておき、運転者の好み
に応じて関数を選択し得るようにしたもの、更には、こ
の選択切替えに際し、車両が走行中にあるときは、その
切替えによる同位相転舵比の変化が漸次行なわれるよう
にし、走行中に同位相転舵比が急変することの不具合を
解消するようにしたもの（＃開開１３０−１３５３８９
号公報）等、種々のものが提案されている。In such control, the in-phase steering ratio for the vehicle speed is given as a continuous function of the vehicle speed, and a plurality of rA numbers are prepared so that the function can be selected according to the driver's preference. Furthermore, when the selection is switched, when the vehicle is running, the in-phase steering ratio is changed gradually due to the switching, and the in-phase steering ratio changes suddenly while the vehicle is running. The one that solved the problem (# Kaikai 130-135389
Various methods have been proposed.
（発明が解決しようとする問題点）
ところが車両の操縦性部は、車速の影響のみならず、路
面の状態、つまり路面の摩擦係数の状態にも大きく左右
される。とりわけ路面が凍結しているような場合にはそ
の影響が極めて大きくなりかかる対策が望まれるが、従
来、かかる要望に応じ得るようなものは知られていない
。(Problems to be Solved by the Invention) However, the maneuverability of a vehicle is greatly influenced not only by the vehicle speed but also by the condition of the road surface, that is, the condition of the coefficient of friction of the road surface. Particularly when the road surface is frozen, the effects of this are extremely large, and countermeasures against this are desired, but so far no measures have been known that can meet this demand.
そこで本発明はかかる要望に応じて成されたもので、そ
の目的とする処は、路面の状態、特に路面が凍結したよ
うな場合に操縦安定性が悪化するのを極力防止すること
ができる車両の四輪操舵制御装置を提供するにある。The present invention was developed in response to such a need, and its purpose is to provide a vehicle capable of preventing deterioration of steering stability as much as possible when road conditions occur, especially when the road surface is frozen. to provide four-wheel steering control devices.
（問題点を解決するための手段及び作用）この目的を達
成するため本発明は、前輪の操舵に応じて後輪を操舵す
る車両の四輪操舵制御装置において、前記車両に路面の
凍結を検知する凍結検知手段（４）、（５）、（９）を
設け、該検知手段（４）。(Means and effects for solving the problem) To achieve this object, the present invention provides a four-wheel steering control device for a vehicle that steers the rear wheels in response to the steering of the front wheels. Freeze detection means (4), (5), and (9) are provided, and the detection means (4).
（５）、（９）の出力信号に基づき路面が凍結している
場合に、前記制御装置による同位相転舵比を大きくする
ようにしてなる。Based on the output signals of (5) and (9), when the road surface is frozen, the in-phase steering ratio by the control device is increased.
このような構成によれば、路面の凍結によりその彦擦係
数が小さくなり、前輪、後輪のグリップが小さくなるの
を、前輪と後輪の同位相転舵比を大きくすることで補う
ことができ、その操縦安定性が悪化するのを防止するこ
とができる。According to this configuration, the friction coefficient decreases due to freezing of the road surface, and the grip of the front and rear wheels decreases, which can be compensated for by increasing the in-phase steering ratio of the front and rear wheels. This can prevent the steering stability from deteriorating.
（実施例） 以下に本発明の実施例を添付図面に基づいて説明する。(Example) Embodiments of the present invention will be described below based on the accompanying drawings.
第１図はこの発明に係る四輪操舵制御装置を示すブロッ
ク構成図、第２図、第３図は同位相転舵比データを示す
図、第４図はマイクロ波水分計を示すブロック構成図で
ある。FIG. 1 is a block diagram showing a four-wheel steering control device according to the present invention, FIGS. 2 and 3 are diagrams showing in-phase steering ratio data, and FIG. 4 is a block diagram showing a microwave moisture meter. It is.
第１図において（１）乃至（５）は各種センサ、（６）
はマイクロコンピュータを示し、（７）は変換手段、（
８）はメモリ、（９）は判断手段、（１ｏ）は比較手段
、（１１）は遅延回路、（１２）は制御信号を出力する
ための出力回路である。In Figure 1, (1) to (5) are various sensors, (6)
indicates a microcomputer, (7) indicates a conversion means, (
8) is a memory, (9) is a determining means, (1o) is a comparing means, (11) is a delay circuit, and (12) is an output circuit for outputting a control signal.
車速センサ（１）は例えば磁気的手段により車輪の回転
を検出し、これを車速に対応した車速信号（ｕ）として
変換手段（７）へ入力する。同位相転舵比検出センサ（
２）は、例えば回転センサが用いられ、操舵系の適所に
設けられて車両の操舵状態における同位相転舵比に比例
した信号を同位相転舵比データ（Ｋｍ）として比較手段
（１０）へ入力する。The vehicle speed sensor (1) detects the rotation of the wheels by, for example, magnetic means, and inputs this to the conversion means (7) as a vehicle speed signal (u) corresponding to the vehicle speed. In-phase steering ratio detection sensor (
In 2), for example, a rotation sensor is used, which is installed at an appropriate position in the steering system, and a signal proportional to the in-phase steering ratio in the steering state of the vehicle is sent to the comparing means (10) as in-phase steering ratio data (Km). input.
外気温センサ（３）は例えば抵抗温度計等が用いられ、
車両の排気系やエンジン回りの高温部を避けた適所に設
けられ、外気温に対応した信号を出力する。For example, a resistance thermometer or the like is used as the outside temperature sensor (3).
It is installed in a suitable location away from the vehicle's exhaust system and high-temperature parts around the engine, and outputs a signal corresponding to the outside temperature.
水分センサ（４）は路面の水分を検出するもので、これ
は第４図に示すようなマイクロ波水分計が用いられる。The moisture sensor (4) detects moisture on the road surface, and uses a microwave moisture meter as shown in FIG.
このマイクロ波水分計は、所定の周波数域にあるマイク
ロ波が水に吸収され易いという性質を利用するもので、
変調器（１５）、マイクロ波発振器（１Ｂ）によって得
られた所定周波数のマイクロ波をマイクロ波分配器（１
７）により二方向に分配して照射し、その一方をマイク
ロ波比較受信機（１Ｂ）に直接入力せしめるとともに、
他方を路面（１８）にて反射させてマイクロ波比較受信
機（１Ｂ）に入力せしめるようにし、このマイクロ波比
較受信機（１８）にて両マイクロ波の強度を比較するこ
とにより路面（１９）によるマイクロ波の吸収、すなわ
ち路面（１９）の水分を検出し、出力回路（２０）より
出力するようにしたものである。This microwave moisture meter utilizes the property that microwaves in a certain frequency range are easily absorbed by water.
A microwave of a predetermined frequency obtained by a modulator (15) and a microwave oscillator (1B) is transmitted to a microwave distributor (1
7) distributes the radiation in two directions and inputs one directly to the microwave comparison receiver (1B),
The other microwave is reflected from the road surface (18) and inputted to the microwave comparison receiver (1B), and the microwave comparison receiver (18) compares the intensities of both microwaves. In other words, moisture on the road surface (19) is detected and outputted from the output circuit (20).
路面温度センサ（５）は、赤外線検知センサが用いられ
、路面より照射される赤外線を検出することで路面の温
度を検出するようにしたものである。The road surface temperature sensor (5) uses an infrared detection sensor, and detects the temperature of the road surface by detecting infrared rays emitted from the road surface.
以上の外気温センサ（３）、水分センサ（４）、路面温
度センサ（５）の出方信号は判断手段（９）に入力され
、ここで路面の状態が判断される。すなわち判断手段（
９）は水分センサ（０及び路面温度センサ（５）により
路面が零度以下にあり且つ水分が検出された場合には路
面が凍結状態にあると判断し、該状態を表わす信号（Ｓ
ｏ）を出方する。また本実施例においては、判断手段（
９）はこの凍結状態以外においても、例えば外気温セン
サ（３）及び水分センサ（４）により外気温が所定以下
で且つ路面が水分を含む場合には降雪状態等を想定し、
凍結状態と同信号（Ｓｏ）を出方し、それ以外の場合に
は、路面が凍結状態等にないことを示す信号（Ｓ＋）を
出力する。Output signals from the outside air temperature sensor (3), moisture sensor (4), and road surface temperature sensor (5) are input to the determining means (9), where the road surface condition is determined. In other words, the means of judgment (
9) determines that the road surface is in a frozen state when the road surface is below zero and moisture is detected by the moisture sensor (0) and the road surface temperature sensor (5), and sends a signal (S) representing this state.
o). In addition, in this embodiment, the determination means (
9) assumes a snowfall state even in other than this frozen state, for example, if the outside temperature is below a predetermined level and the road surface contains moisture according to the outside temperature sensor (3) and moisture sensor (4),
The same signal (So) as in the frozen state is outputted, and in other cases, a signal (S+) indicating that the road surface is not in the frozen state is outputted.
変換手段（７）は、前記車速信号（ｕ）及び判断手段（
９）からの路面状態を示す信号（Ｓｏ）、 （Ｓｏに基
づき、当該データを所望の同位相転舵比信号に変換する
。すなわちこの変換手段（７）は、車速信号（ｕ）と路
面状態を示す信号（Ｓｏ）、 （Ｓ＋）から形成される
アドレスに同位相転舵比データを記憶したメモリ（８）
を有し、該同位相転舵比データを車速信号（ｕ）と路面
状態を示す信号（Ｓｏ） 、 （Ｓ＋）とで読み出し出
力するものである。The conversion means (7) converts the vehicle speed signal (u) and the judgment means (
Based on the signal (So) indicating the road surface condition from (9), the data is converted into a desired in-phase steering ratio signal.In other words, this converting means (7) converts the vehicle speed signal (u) and the road surface condition into a desired in-phase steering ratio signal. A memory (8) that stores in-phase steering ratio data at an address formed from signals (So) and (S+) indicating
The in-phase steering ratio data is read and output as a vehicle speed signal (u) and signals (So) and (S+) indicating the road surface condition.
第２図はこのメモリにおける同位相転舵比データを示す
もので、メモリ（８）は二つの同位相転舵比関数Ｐ、Ｑ
を記憶する。これら関数Ｐ、Ｑは。Figure 2 shows the in-phase steering ratio data in this memory, and the memory (8) contains two in-phase steering ratio functions P and Q.
Remember. These functions P and Q are.
夫々横軸に車両速度、縦軸に同位相転舵比をとって示し
たもので、関数Ｑは関数Ｐを縦軸方向に所定量平行移動
したもので、従って関数Ｑは関ａＰよりも任意の速度に
対し常に一定量大きくなっている。かかる二つの関数Ｐ
、Ｑから変換手段（７）は判断手段（９）の信号（Ｓｏ
） 、 （Ｓ＋）より路面が凍結状態等にあるときは閏
ＩＱを、そうでないときは関数Ｐを選択し、この選択さ
れた関数において車速（ｕ）に対する同位相転舵比デー
タ（Ｋｏ）を得、比較手段（ｌＯ）へ入力する。The horizontal axis shows the vehicle speed, and the vertical axis shows the in-phase steering ratio.The function Q is the function P translated by a predetermined amount in the vertical axis direction.Therefore, the function Q is more arbitrary than the function aP. is always a certain amount larger than the speed of These two functions P
, Q, the converting means (7) converts the signal (So
), (S+), when the road surface is frozen, etc., select the leap IQ, otherwise select the function P, and in this selected function, calculate the in-phase steering ratio data (Ko) for the vehicle speed (u). and input it to the comparison means (lO).
尚、第２図に示した同位相転舵比関数Ｐ、Ｑは同一の形
を有するものとしたが、これらは例えば第３図に示され
るように異なる形を有し、車速が大きくなるに伴って同
位相転舵比の差が太きくなるような関数により４Ｒ成す
るようにしてもよい。Although the in-phase steering ratio functions P and Q shown in FIG. 2 are assumed to have the same shape, they have different shapes as shown in FIG. 3, for example, and as the vehicle speed increases, Accordingly, 4R may be formed by a function such that the difference in in-phase steering ratio becomes larger.
こうして同位相転舵比データ（Ｋｏ）が入力された比較
手段（１０）は、この同位相転舵比データ（Ｋｏ）と同
位相転舵比検出センサ（２）からの車両の実際の同位相
転舵比（Ｋ漏）を比較し、その差、すなわち変換すべき
同位相転舵比に対応する操作信号（ΔＫ）を遅延回路（
１１）に入力する。The comparison means (10) to which the in-phase steering ratio data (Ko) is inputted in this way compares this in-phase steering ratio data (Ko) with the actual in-phase of the vehicle from the in-phase steering ratio detection sensor (2). The steering ratios (K leakage) are compared, and the difference, that is, the operation signal (ΔK) corresponding to the in-phase steering ratio to be converted, is sent to the delay circuit (
11).
この遅延回路（１１）は特開昭６Ｏ−１３５３Ｈ号公報
にも示されているように車両の走行中に同位相転舵比が
急変することの不具合を避けるため、比較手段（１０）
からの出力信号（操作信号ΔＫ）が大きい場合に、これ
を漸次大きくして出力回路（１２）に入力せしめるもの
である。This delay circuit (11) is used as a comparison means (10) in order to avoid problems caused by sudden changes in the in-phase steering ratio while the vehicle is running, as shown in Japanese Patent Laid-Open No. 6O-1353H.
When the output signal (operation signal ΔK) is large, it is gradually increased and inputted to the output circuit (12).
こうして得られた操作信号は出力回路（１２）を介して
不図示の操舵系に与えられ、路面の状態により適した同
位相転舵比における車両の走行が行なわれることとなる
。The operation signal thus obtained is applied to a steering system (not shown) via the output circuit (12), and the vehicle is driven at the same phase steering ratio more suitable for the road surface condition.
第５図は本発明に係る四輪操舵制御装置の別実施例を示
す図で、図中前記実施例を同一対象については同一符号
を付している。 ′
この実施例では、予め運転者の好みによって選択し得る
同位相転舵比関数群（ＩＫ）〜（ＮＫ）を複数用意して
おき、運転者によって選択された関数群が、更に前述し
た如く、路面が凍結した場合とそうでないときとで各々
二種の関数を有するようにしたものである。すなわち、
第５図において（２ｏ）は車室内等に設けられた同位相
転舵比関数群の選択スイッチであり、この場合、変換手
段（７）は、この選択スイッチ（２０）による信号、判
断手段（９）からの信号、及び車速信号の三種の信号か
ら同位相転舵比データを決定することとなる。FIG. 5 is a diagram showing another embodiment of the four-wheel steering control device according to the present invention, and in the figure, the same components as those in the embodiment described above are given the same reference numerals. ' In this embodiment, a plurality of in-phase steering ratio function groups (IK) to (NK) that can be selected according to the driver's preference are prepared in advance, and the function group selected by the driver is , which has two types of functions for when the road surface is frozen and when it is not. That is,
In FIG. 5, (2o) is a selection switch for the in-phase steering ratio function group provided in the vehicle interior, etc. In this case, the conversion means (7) receives the signal from this selection switch (20), the judgment means ( In-phase steering ratio data is determined from three types of signals: the signal from 9) and the vehicle speed signal.
第６図はこの別実施例における同位相転舵比データを第
２図又は第３図の場合と同様に示したもので、この図に
おいて例えば運転者が例えば選択スイッチ（２０）によ
り３にの関数を選んだときは、路面が凍結状態にあると
きは３に−Ｑの関数が、他方路面が凍結状態にないとき
は３に−Ｐの関数が選択され、夫々の関数において車速
に対する同位相転舵比データが得られることとなる。FIG. 6 shows in-phase steering ratio data in this other embodiment in the same way as in FIG. When selecting a function, when the road surface is frozen, a function of 3 and -Q is selected, and when the road surface is not frozen, a function of 3 and -P is selected, and each function has the same phase with respect to the vehicle speed. Steering ratio data will be obtained.
（発明の効果）
以上の説明より明らかなように、本発明によれば路面が
凍結等した場合に同位相転舵比を大きくするようにした
ため、かかる路面状態において車両の操縦性能が悪化す
るのを防ぐことができる。(Effects of the Invention) As is clear from the above explanation, according to the present invention, the in-phase steering ratio is increased when the road surface is frozen, so that the maneuverability of the vehicle is prevented from deteriorating in such road surface conditions. can be prevented.
第１図は本発明に係る四輪操舵制御装置を示すブロック
構成図、第２図、第３図は同位相転舵比データを示す図
、第４図はマイクロ波水分計を示すブロック構成図、第
５図は本発明の別実施例を示すブロック構成図、第６図
は別実施例における同位相転舵比データを示す図である
。
そして図面中。
（１）は車速センサ、（２）は同位相転舵比検出センサ
、（３）は外気温センサ、（４）は水分センサ、（５）
は路面温度センサ、（６）はマイクロコンピュータ、（
７）は変換手段、（８）はメモリ、（９）は判断手段、
（ｌＯ）は比較手段、（１１）は遅延回路、（１２）は
出力回路である。Fig. 1 is a block diagram showing a four-wheel steering control device according to the present invention, Figs. 2 and 3 are diagrams showing in-phase steering ratio data, and Fig. 4 is a block diagram showing a microwave moisture meter. , FIG. 5 is a block diagram showing another embodiment of the present invention, and FIG. 6 is a diagram showing in-phase steering ratio data in another embodiment. And in the drawing. (1) is a vehicle speed sensor, (2) is an in-phase steering ratio detection sensor, (3) is an outside temperature sensor, (4) is a moisture sensor, (5)
is a road surface temperature sensor, (6) is a microcomputer, (
7) is a conversion means, (8) is a memory, (9) is a judgment means,
(lO) is a comparison means, (11) is a delay circuit, and (12) is an output circuit.
Claims (1)
装置において、 前記車両に路面の凍結を検知する凍結検知手段を設け、
該検知手段の出力信号に基づき、路面が凍結している場
合に、前記制御装置による同位相転舵比を大きくするよ
うにしたことを特徴とする車両の四輪操舵制御装置。[Scope of Claims] A four-wheel steering control device for a vehicle that steers rear wheels in response to steering of the front wheels, comprising: a freeze detection means for detecting freezing of a road surface;
A four-wheel steering control device for a vehicle, characterized in that the in-phase steering ratio by the control device is increased based on the output signal of the detection means when a road surface is frozen.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP25034486A JPS63103766A (en) | 1986-10-21 | 1986-10-21 | Four-wheel steering control device for vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP25034486A JPS63103766A (en) | 1986-10-21 | 1986-10-21 | Four-wheel steering control device for vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS63103766A true JPS63103766A (en) | 1988-05-09 |
Family
ID=17206518
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP25034486A Pending JPS63103766A (en) | 1986-10-21 | 1986-10-21 | Four-wheel steering control device for vehicle |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS63103766A (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6220758A (en) * | 1985-07-22 | 1987-01-29 | Toyota Motor Corp | Rear wheel steering control device for vehicle |
| JPS62227871A (en) * | 1986-03-31 | 1987-10-06 | Mazda Motor Corp | Four wheel steering device for vehicle |
-
1986
- 1986-10-21 JP JP25034486A patent/JPS63103766A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6220758A (en) * | 1985-07-22 | 1987-01-29 | Toyota Motor Corp | Rear wheel steering control device for vehicle |
| JPS62227871A (en) * | 1986-03-31 | 1987-10-06 | Mazda Motor Corp | Four wheel steering device for vehicle |
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