KR940006870A - Steering of vehicle - Google Patents

Steering of vehicle Download PDF

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Publication number
KR940006870A
KR940006870A KR1019930019092A KR930019092A KR940006870A KR 940006870 A KR940006870 A KR 940006870A KR 1019930019092 A KR1019930019092 A KR 1019930019092A KR 930019092 A KR930019092 A KR 930019092A KR 940006870 A KR940006870 A KR 940006870A
Authority
KR
South Korea
Prior art keywords
value
signal operation
steering
vehicle
operation value
Prior art date
Application number
KR1019930019092A
Other languages
Korean (ko)
Inventor
류야 아키타
테르히코 타카타니
히로시 오오무라
Original Assignee
와다 요시히로
마쯔다 가부시기가이샤
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 와다 요시히로, 마쯔다 가부시기가이샤 filed Critical 와다 요시히로
Publication of KR940006870A publication Critical patent/KR940006870A/en

Links

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
    • B62D7/159—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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/14—Yaw
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/18—Steering angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2400/00—Special features of vehicle units
    • B60Y2400/84—Rear wheel steering; All wheel steerings

Abstract

본 발명은 차속, 후륜타각, 전륜타각 변화율 및 요우레이트의 각각의 검출신호로부터 얻게 되는 신호연산치를 가감산해서 후륜전타제어용 목표치를 결정하도록 구성된 차량의 조타장치에 관한 것으로서, 안전성 확보를 도모한 위에 섬세하고 치밀한 후륜전타제어를 행할수 있는 차량의 조타장치를 제공하는 것을 목적으로한 것이며, 그 구성에 있어서 차속 V, 요우레이트′및 전륜타각 θF, 또 이것을 미분해서 얻게되는 전류타각 변화율 θ′F2의 각각의 검출신호로부터 얻게되는 신호연산치를 가감산해서 목표전타비 TGθS가 허용범위를 초과한 경우에는 이것을 그 상한(하한)치로 수정한다(맵 m15)The present invention relates to a vehicle steering apparatus configured to determine a target value for rear wheel steering control by subtracting and subtracting a signal operation value obtained from respective detection signals of vehicle speed, rear wheel angle, front wheel steering angle change, and yaw rate. An object of the present invention is to provide a steering device for a vehicle that can perform fine and precise rear wheel steering control. And the front wheel angle θ F , and the signal operation value obtained from each detection signal of the current steering angle change rate θ ′ F2 obtained by differentiating it, is added and subtracted, and the target steering ratio TGθ S exceeds the allowable range. We change to lower limit) value (map m15)

이에 의해 상기 가감산에 의해 예기하지 않은 값을 얻게된 경우, 이것을 이상치로해서 제한을 가한다. 이경우, 단순히 TGθS에 대한 수정만으로 제한한 경우에는 상기 각 신호연산치의 어느 것인가에 과대한 제한이 가해져버리게 되나, 상기 신호연산치는 각각의 검출신호로부터 소정범위내의 값으로 제한하도록 해서 얻게되므로(맵 m4, m9, m12), 각 신호연산치에 대한 제한도 행해진다. 이것에 의해 TGθS에 대한 수정만으로 의한 제한에 비해서 그 수정량을 작게 설정할수 있고, 이때문에, 각 신호연산치에 대한 튜닝감도를 충분히 확보할 수 있는 찰양의 조타장치를 실현한다.Thereby, when the unexpected value is obtained by the said addition and subtraction, it limits as an ideal value. In this case, in the case of limiting only the correction to TGθ S , an excessive restriction is placed on any one of the signal operation values, but the signal operation value is obtained by limiting each detected signal to a value within a predetermined range (map). m4, m9, m12) and restriction on each signal operation value are also performed. As a result, the correction amount can be set smaller than the limitation by the correction to TGθ S alone. Thus, a steering gear with a good amount of weight that can sufficiently secure the tuning sensitivity for each signal operation value is realized.

제2도Second degree

Description

차량의 조타장치Steering of vehicle

본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음Since this is an open matter, no full text was included.

제1도는 본 발명에 관한 차량의 조타장치의 일실시예를 표시한 개요구성도,1 is a schematic configuration diagram showing an embodiment of a vehicle steering apparatus according to the present invention;

제2도는 상기 실시예의 작용을 표시한 제어블록도.2 is a control block diagram showing the operation of the above embodiment.

Claims (2)

차속, 전륜타각, 전륜타각변화율 및 요우레이트의 각각의 검출신호로 부터 소정범위내의 값으로 제한되도록 해서 얻게되는 신호연산치를 가감산해서 후륜전타제어용 목표치를 결정하는 목표치 결정수단과, 상기 목표치 결정수단에 의해 결정된 목표치가, 차속에 따라서 설정된 소정의 허용범위를 초과하였을때, 이 목표치를 상기 허용범위내의 값으로 수정하는 목표치 수정수단을 구비해서 이루어진 것을 특징으로 하는 차량의 조타장치.Target value deciding means for deciding a target value for rear wheel steering control by adding or subtracting a signal operation value obtained by restricting each of the vehicle speed, front wheel angle, front wheel angle change rate, and yaw rate to a value within a predetermined range; And a target value correcting means for correcting the target value to a value within the allowable range when the target value determined by the step exceeds a predetermined allowable range set in accordance with the vehicle speed. 제1항에 있어서, 상기 허용범위가 증차속영역에 있어서 가장 좁게 되도록 설정되어 있는것을 특징으로 하는 차량의 조타장치.The vehicle steering apparatus according to claim 1, wherein the allowable range is set so as to be narrowest in the increase speed range. ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.※ Note: The disclosure is based on the initial application.
KR1019930019092A 1992-09-24 1993-09-21 Steering of vehicle KR940006870A (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP92-254286 1992-09-24
JP04254286A JP3074582B2 (en) 1992-09-24 1992-09-24 Vehicle steering system

Publications (1)

Publication Number Publication Date
KR940006870A true KR940006870A (en) 1994-04-26

Family

ID=17262862

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1019930019092A KR940006870A (en) 1992-09-24 1993-09-21 Steering of vehicle

Country Status (3)

Country Link
JP (1) JP3074582B2 (en)
KR (1) KR940006870A (en)
DE (1) DE4332040C2 (en)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10244070A1 (en) * 2002-09-06 2004-03-11 Volkswagen Ag Device and method for steering assistance for vehicles with electromechanical steering
DE10248214A1 (en) 2002-10-16 2004-05-13 Siemens Ag Circuit with at least one piezo actuator
US8494719B2 (en) * 2009-02-12 2013-07-23 GM Global Technology Operations LLC Method and apparatus for controlling active rear steering
EP2657106B1 (en) * 2010-12-20 2015-08-26 Toyota Jidosha Kabushiki Kaisha Vehicular steering control device
CN116022227A (en) * 2021-10-26 2023-04-28 上海集度汽车有限公司 Emergency method and device for steer-by-wire fault, vehicle and storage medium
DE102022106530B3 (en) * 2022-01-14 2023-05-17 Hyundai Mobis Co., Ltd. Four wheel independent steering system and method of controlling the same

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06104455B2 (en) * 1985-03-15 1994-12-21 日産自動車株式会社 Vehicle motion condition estimation device
JPS61220975A (en) * 1985-03-27 1986-10-01 Honda Motor Co Ltd All-wheel steering gear for vehicles
JP2787362B2 (en) * 1990-02-28 1998-08-13 マツダ株式会社 Vehicle rear wheel steering system
JPH04108079A (en) * 1990-08-24 1992-04-09 Mazda Motor Corp Rear wheel steering device for vehicle
DE69127034D1 (en) * 1990-08-24 1997-09-04 Mazda Motor Four-wheel steering for one vehicle
JPH0656048A (en) * 1992-08-05 1994-03-01 Honda Motor Co Ltd Variable steering angle ratio steering device

Also Published As

Publication number Publication date
JP3074582B2 (en) 2000-08-07
DE4332040C2 (en) 1999-07-08
DE4332040A1 (en) 1994-03-31
JPH06107197A (en) 1994-04-19

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E902 Notification of reason for refusal
E601 Decision to refuse application