KR960031258A - Intelligent Four-wheel Steering Safety Device for Vehicles and Its Control Method - Google Patents

Intelligent Four-wheel Steering Safety Device for Vehicles and Its Control Method Download PDF

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Publication number
KR960031258A
KR960031258A KR1019950002280A KR19950002280A KR960031258A KR 960031258 A KR960031258 A KR 960031258A KR 1019950002280 A KR1019950002280 A KR 1019950002280A KR 19950002280 A KR19950002280 A KR 19950002280A KR 960031258 A KR960031258 A KR 960031258A
Authority
KR
South Korea
Prior art keywords
rear wheel
steering
steering angle
sensor
current
Prior art date
Application number
KR1019950002280A
Other languages
Korean (ko)
Other versions
KR970006000B1 (en
Inventor
김대영
정연구
Original Assignee
한승준
기아자동차 주식회사
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.)
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Application filed by 한승준, 기아자동차 주식회사 filed Critical 한승준
Priority to KR1019950002280A priority Critical patent/KR970006000B1/en
Publication of KR960031258A publication Critical patent/KR960031258A/en
Application granted granted Critical
Publication of KR970006000B1 publication Critical patent/KR970006000B1/en

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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
    • B62D7/148—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 provided with safety devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
    • B62D5/0484—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures for reaction to failures, e.g. limp home
    • 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

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  • Engineering & 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)

Abstract

본 발명은 자동차의 조향장치에 있어서, 지능형 4륜 조향 안전장치와, 그 제어방법에 관한 것으로, 핸들에 부착되어 조향각을 감지하는 전륜조타각 주센서(10)와 전륜바퀴에 위치하여 조향각을 감지하는 전류조탁각 부센서(11)와 후륜의 조향각을 바꾸어 주는 후륜조향 엑튜에이터(60)에서 후륜의 조향각을 감지하는 후륜 조타각센서(20)와 후륜바퀴에 위치하여 조향각을 감지하는 후륜 조타각 부센서(21)와 엔진의 회전수에 따라 변하는 속도를 측정하는 차속 주센서(30) 및 차속 부센서(31)와 후륜조향의동력원인 모타로의 유입 전류량을 측정하는 전류량 감지 주센서(30)와 밧데리의 유출 전류량을 측정하는 전류량 감지 부센서(41)와 상기 각각의 센서에서 입력된 신호를 제어하는 ECU(50)로 구성되고, 4륜 조향시스템의 초기 동작상태를 점검하는 단계(S1)와 ; 입력신호점검단계(S2) ; 주제어신호(Si)에 따른, 조향 제어단계(S3)와 ; 제어출력 신호량(O(t))의 보정단계(S4) ; PWM신호량(P(t)) 보정단계(S5)와 ; 전류량(I(t))의 보정단계(S6)와 ; 후륜조향장치 구동단계(S7)와 ; 후륜구동모타 동작차단 및 경고단계(S8)로 제어함을 특징으로 하는 지능형 4륜 조향 안전장치이다.The present invention relates to an intelligent four-wheel steering safety device and a control method thereof in a vehicle steering apparatus, the steering wheel being mounted on a front wheel steering angle sensor (10) attached to a steering wheel and sensing a steering angle to detect a steering angle. Rear wheel steering angle sensing position of the rear wheel steering angle sensor 20 and rear wheel steering to detect the steering angle of the rear wheel in the current steering angle sub-sensor 11 and the rear wheel steering actuator 60 for changing the steering angle of the rear wheel. Vehicle speed main sensor 30 that measures the speed that changes according to the number of revolutions of the sub-sensor 21 and engine, and current amount detection main sensor 30 that measures the amount of inflow current into the motor, which is the power source of the rear wheel steering. ) And the ECU 50 for controlling the signal input from the respective sensors, the current amount detecting sub-sensor 41 for measuring the amount of leakage current of the battery, and checking the initial operating state of the four-wheel steering system (S1). )Wow ; Input signal checking step S2; A steering control step S3 according to the main control signal Si; Correction step S4 of the control output signal amount O (t); PWM signal amount P (t) correction step S5; A correction step S6 of the current amount I (t); A rear wheel steering device driving step (S7); Intelligent four-wheel steering safety device, characterized in that controlled by the rear wheel drive motor operation blocking and warning step (S8).

Description

자동차의 지능형 4륜 조향 안전장치와 그 제어방법Intelligent Four-wheel Steering Safety Device for Vehicles and Its Control Method

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

제1도는 본 고안의 지능형 4륜 조향 안전장치의구성도,1 is a configuration of the intelligent four-wheel steering safety device of the present invention,

제2도는 본 고안의 지능형 4륜 조향 안전장치의 제어방법의 흐름도.2 is a flow chart of a control method of the intelligent four-wheel steering safety device of the present invention.

Claims (2)

차량의 핸들에 부착되어 조향각을 감지하는 전류조타각 주센서와 ; 전류바퀴에 위치하여 조향각을 감지하는 전류조타각 부센서와 ; 후륜의 조향각을 바꾸어 주는 후륜조향 엑튜에이터에서 후륜의 조향각을 감지하는 후륜 조타각 주센서와 ; 후륜바퀴에 위치하여 조향각을 감지하는 후륜 조타각 부센서와 ; 엔진의 회전수에 따라 변하는 속도를 측정하는 차속 주센서 ; 및 차속 부센서와 ; 후륜조향의 동력원인 모타로의 유입 전류량을 측정하는 전류량 감지 주센서와 ; 밧데리의 유출 전류량을 측정하는 전류량 감지 부센서와 ; 상기 각각의 센서에서 입력된 신호를 제어하는 ECU로 구성함을 특징으로 하는 지능형 4륜 조향 안전장치.A current steering angle main sensor attached to a steering wheel of the vehicle and detecting a steering angle; A current steering angle subsensor for detecting a steering angle at a current wheel; A rear wheel steering angle sensor for detecting a steering angle of a rear wheel in a rear wheel steering actuator that changes the steering angle of the rear wheel; A rear wheel steering angle sensor which is located on the rear wheel and detects a steering angle; A main vehicle speed sensor for measuring a speed varying according to the engine speed; And a vehicle speed subsensor; A current sensor for measuring the amount of current flowing into the motor which is the power source for the rear wheel steering; An amount of current sensing subsensor for measuring the amount of leakage current of the battery; Intelligent four-wheel steering safety device, characterized in that consisting of the ECU for controlling the signal input from each sensor. 4륜 조향시스템의 초기동작상태를 점검하는 단계와 ; 입력신호 점검단계와 ; 주제어신호(Si)에 따른 조향 제어단계와 ; 제어출력 신호량(O(t))의 보정단계 ; PWM 신호량(P(t))의 보정단계와 ; 전류량(I(t))의 보정단계와 ; 후륜조향장치 구동단계와 ; 후륜구동모타 동작차단 및 경고단계로 구성함을 특징으로 하는 지능형 4륜 조향 안전장치의 제어방법.Checking the initial operating state of the four-wheel steering system; Checking the input signal; Steering control according to the main control signal Si; Correcting the control output signal amount O (t); Correcting the PWM signal amount P (t); A correction step of the current amount I (t); A rear wheel steering device driving step; Control method of intelligent four-wheel steering safety device, characterized in that the rear wheel drive motor operation block and warning phase. ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.※ Note: The disclosure is based on the initial application.
KR1019950002280A 1995-02-09 1995-02-09 Four wheel steering safety device KR970006000B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1019950002280A KR970006000B1 (en) 1995-02-09 1995-02-09 Four wheel steering safety device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1019950002280A KR970006000B1 (en) 1995-02-09 1995-02-09 Four wheel steering safety device

Publications (2)

Publication Number Publication Date
KR960031258A true KR960031258A (en) 1996-09-17
KR970006000B1 KR970006000B1 (en) 1997-04-23

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Family Applications (1)

Application Number Title Priority Date Filing Date
KR1019950002280A KR970006000B1 (en) 1995-02-09 1995-02-09 Four wheel steering safety device

Country Status (1)

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KR (1) KR970006000B1 (en)

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Publication number Publication date
KR970006000B1 (en) 1997-04-23

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