WO2014171389A1 - Dispositif de direction, véhicule utilisant ce dispositif de direction, et véhicule équipé d'un mécanisme à quatre roues directrices - Google Patents

Dispositif de direction, véhicule utilisant ce dispositif de direction, et véhicule équipé d'un mécanisme à quatre roues directrices Download PDF

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Publication number
WO2014171389A1
WO2014171389A1 PCT/JP2014/060391 JP2014060391W WO2014171389A1 WO 2014171389 A1 WO2014171389 A1 WO 2014171389A1 JP 2014060391 W JP2014060391 W JP 2014060391W WO 2014171389 A1 WO2014171389 A1 WO 2014171389A1
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WO
WIPO (PCT)
Prior art keywords
wheel
vehicle
rack
steering
wheels
Prior art date
Application number
PCT/JP2014/060391
Other languages
English (en)
Japanese (ja)
Inventor
裕也 山口
大場　浩量
石河　智海
Original Assignee
Ntn株式会社
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
Priority claimed from JP2013087329A external-priority patent/JP2014210484A/ja
Priority claimed from JP2013087323A external-priority patent/JP2014210481A/ja
Application filed by Ntn株式会社 filed Critical Ntn株式会社
Publication of WO2014171389A1 publication Critical patent/WO2014171389A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K17/00—Arrangement or mounting of transmissions in vehicles
    • B60K17/34—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles
    • B60K17/356—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles having fluid or electric motor, for driving one or more wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K17/00—Arrangement or mounting of transmissions in vehicles
    • B60K17/34—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles
    • B60K17/358—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles all driven wheels being steerable
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • B60K2007/0038—Disposition of motor in, or adjacent to, traction wheel the motor moving together with the wheel axle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • B60K2007/0092—Disposition of motor in, or adjacent to, traction wheel the motor axle being coaxial to the wheel axle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/10—Road Vehicles
    • B60Y2200/11—Passenger cars; Automobiles
    • B60Y2200/112—City movers, small sized city motor vehicles

Definitions

  • the present invention relates to a vehicle steering device, a vehicle using the steering device, and a vehicle including a four-wheel steering mechanism.
  • a steering mechanism called Ackermann-Jantou type that steers the wheels using a steering link mechanism that connects the left and right wheels (hereinafter collectively referred to as "wheels” including tires, wheels, hubs, etc.) There is.
  • This steering mechanism uses a tie rod and a knuckle arm so that the left and right wheels have the same turning center when the vehicle turns.
  • a steering mechanism provided with an actuator that changes either the length of the tie rod, the distance between the left and right tie rods, or the angle formed by each wheel and the knuckle arm. According to this steering mechanism, all of normal traveling, parallel movement, and small traveling can be smoothly performed, and the response is excellent (for example, see Patent Document 1 below).
  • the steering mechanism is arranged between the left and right wheels of the front and rear wheels, and includes a rack bar that is rotatable about an axis and divided into left and right, and a forward / reverse switching means between the two divided rack bars. There is.
  • the forward / reverse switching means can transmit the rotation of one of the divided rack bars to the other in the forward / reverse direction. According to this steering mechanism, movements such as a steering angle of 90 degrees and lateral movement are possible (for example, see Patent Document 2 below).
  • a line extending vertically from the rotation line of each wheel gathers at the turning center of the vehicle. Smooth running is possible.
  • the lateral movement of the vehicle transverse movement in the lateral direction with the vehicle facing in the front-rear direction
  • steering the wheel in a direction of 90 degrees with respect to the front-rear direction is a problem with the length of the steering link. It is difficult to interfere with other members. Further, even if one of the left and right wheels is steered at 90 degrees, the other wheel is not completely parallel to the one wheel, and smooth running is difficult.
  • the front wheels that are main steered wheels can be steered in a predetermined traveling direction of the vehicle, and the rear wheels that are follower steered wheels are set in parallel with the longitudinal direction of the vehicle. ing. For this reason, when the front wheel of this vehicle is steered and turned, the front wheel and the rear wheel do not coincide with the turning circle. Therefore, at low vehicle speeds, the vehicle turns in a posture in which the rear wheels enter the inside of the turning circle due to the inner wheel difference, and at high vehicle speeds, the vehicle turns in a posture in which the front wheels enter the inside of the turning circle by centrifugal force.
  • Patent Document 1 As a vehicle having a four-wheel steering mechanism (a so-called 4WS vehicle), for example, the technique described in Patent Document 1 allows the vehicle to move in the lateral direction, turn around, and the like.
  • an actuator for changing the length of the tie rod, the distance between the left and right tie rods, or the angle formed by the wheel and the knuckle arm is provided, the number of actuators is large and the control is complicated.
  • Patent Document 2 not only has a complicated structure due to its mechanism, but also uses a large number of gears to steer the wheels by the rotation of the rack bar. For this reason, rattling is likely to occur, and it is difficult to smoothly steer the wheels.
  • Patent Document 3 is an example of a conventional four-wheel steering mechanism. Although the rear wheel can be steered, it is difficult to move in the lateral direction with this mechanism alone for the same reason described above. Further, although Patent Document 4 can perform toe adjustment, it cannot cope with a lateral movement or a small turn of the vehicle.
  • an object of the present invention is to be able to cope with lateral movement, small turn, and the like without using a complicated mechanism.
  • the present invention employs the following configuration as a steering device. That is, a rack bar penetrating the inside of the rack case is connected via a tie rod to at least the left and right wheels of the front wheel or the rear wheel, and the rack bar steers the left and right wheels by movement in the left and right direction with respect to the straight traveling direction of the vehicle. And a steering device having an in-wheel motor on a wheel to which the rack bar is connected via a tie rod is provided.
  • a vertical moving means for moving the rack case in the vertical direction may be provided. That is, a rack bar is connected to at least the left and right wheels of the front wheel or the rear wheel, and the rack bar can steer the left and right wheels by movement in the left and right direction with respect to the straight traveling direction of the vehicle. It is the structure which provided the up-and-down moving means moved to a direction, and provided the in-wheel motor in the wheel to which the said rack bar was connected. Furthermore, you may provide both the said back-and-forth moving means and the said up-and-down moving means.
  • a rack is provided along the movement direction on the vehicle body side
  • a pinion that meshes with the rack is provided on the rack case side
  • the driving force of the motor By rotating the pinion, the rack case can be moved along the rack and stopped at an arbitrary position.
  • a rack case can be moved along the rack by pressing or pulling and stopped at an arbitrary position by a separately provided actuator (movement actuator).
  • a steering mechanism using a rack and pinion mechanism or the like can be adopted for the steering of the left and right wheels by the rack bar penetrating the inside of the rack case.
  • the computer engine control unit (ECU), etc.
  • the computer outputs the amount of movement of the rack bar in the left-right direction and commands the operation.
  • the left and right wheels can be steered.
  • the rotation by the driving force of the motor can be transmitted to the rack bar provided in the steering mechanism that connects the left and right wheels via the rack and pinion mechanism.
  • the driving force of a separately provided actuator can be transmitted to the rack bar.
  • the steering device having any one of these configurations can be a vehicle applied to either the front wheels or the rear wheels, and can be a vehicle applied to both the front wheels and the rear wheels.
  • the present invention employs the following configuration as a vehicle equipped with a four-wheel steering mechanism. That is, a rack bar penetrating the inside of the rack case is connected to the left and right wheels of the front wheel and the rear wheel via a tie rod, and the rack bar can steer the left and right wheels by movement in the left and right direction with respect to the straight traveling direction of the vehicle.
  • a vehicle equipped with a four-wheel steering mechanism having an in-wheel motor on each wheel to which the rack bar is connected via a tie rod and a forward / backward moving means for moving the rack case in the front / rear direction is adopted.
  • a vertical moving means for moving the rack case in the vertical direction may be provided. That is, it has rack bars connected to the left and right wheels of the front and rear wheels, and the rack bar can steer the left and right wheels by movement in the left and right direction with respect to the straight traveling direction of the vehicle. It is the structure of the vehicle provided with the four-wheel steering mechanism which has an in-wheel motor in each wheel to which the said rack bar was connected, and the up-and-down moving means to move up and down. Furthermore, you may provide both the said back-and-forth moving means and the said up-and-down moving means.
  • a rack is provided along the movement direction on the vehicle body side
  • a pinion that meshes with the rack is provided on the rack case side
  • the driving force of the motor By rotating the pinion, the rack case can be moved along the rack and stopped at an arbitrary position.
  • a rack case can be moved along the rack by pressing or pulling and stopped at an arbitrary position by a separately provided actuator (movement actuator).
  • a steering mechanism using a rack and pinion mechanism or the like can be adopted for the steering of the left and right wheels by the rack bar penetrating the inside of the rack case.
  • the computer engine control unit (ECU), etc.
  • ECU engine control unit
  • the computer outputs the amount of movement of the rack bar in the left-right direction and commands the operation.
  • the left and right wheels can be steered.
  • the rotation by the driving force of the motor can be transmitted to the rack bar provided in the steering mechanism that connects the left and right wheels via the rack and pinion mechanism.
  • the structure can be set as the structure by which the driving force of the actuator (actuator for steering) provided separately is transmitted to a rack bar.
  • the structure which can move the rack bar in a rack case to the left-right direction, and can stop at arbitrary positions is employable.
  • the vehicle can be applied to at least the rack case of the rear wheel with the front-rear movement means and the vertical movement means, or any one of these components.
  • the vehicle interior includes a mode switching unit that switches a traveling mode of the vehicle by the front / rear moving unit and / or the vertical moving unit.
  • This mode switching means may be, for example, a switch, lever, joystick or the like that can be operated by the driver. Further, the switch, lever, joystick, etc. may be attached to the steering or the like, or provided separately from the steering in the vehicle interior.
  • the steering angle of the wheels is slightly changed by the movement in the left-right direction by the rack bar.
  • the structure to be made can be adopted.
  • the present invention in the normal driving mode, it operates without a sense of incongruity with the conventional steering operation, and various driving modes such as in-situ rotation, lateral movement, and small turn are also possible. As a result, it is possible to perform lateral movement, small turn, etc. at low cost without using a complicated mechanism. That is, in the normal travel mode, the vehicle is steered only by the left and right movements by the rack bar. Rudder.
  • the left and right wheels are simultaneously steered right or left at a predetermined angle by movement in the left-right direction by the rack bar.
  • the left and right wheels can be steered in the same left and right direction by moving the rack bar arranged in the rack case in either the left or right direction with respect to the straight traveling direction.
  • the rack bar can be moved left and right by a normal steering actuator or a steering operation shaft connected to a steering wheel (handle) if it is a front wheel.
  • the rack case has moving means in the front-rear direction or moving means in the up-down direction
  • the rack case is fixed so that it does not move in the up-down direction and in the front-rear direction.
  • the movement of the moving actuator should be locked or fixed by a separate restraining mechanism.
  • the in-situ rotation mode is a travel mode that is possible when the present steering device is attached to the front and rear wheels, respectively.
  • the rack case attached to the front and rear wheels moves in the front-rear direction or the up-down direction to steer the wheels to a predetermined angle that can be turned on the spot.
  • the rack case can be moved in the front-rear direction or the up-down direction, for example, by following the rotation of the wheel by the aforementioned moving actuator or in-wheel motor.
  • the extension line of the center line (axle center line) of all the wheels faces the vehicle center side in plan view. For this reason, it is also possible to rotate the vehicle 360 degrees on the spot without moving the vehicle center by turning. At this time, the movement of the moving actuator is locked, or the rack case is fixed by a restraining mechanism provided separately, thereby enabling a more stable turning movement. Further, a method of fixing the movement of the rack case in the front-rear direction and the up-down direction with a steering actuator used for normal steering or a steering operation shaft connected to a steering wheel in the case of a front wheel is also conceivable.
  • the lateral movement mode is a travel mode that is possible when the present steering device is attached to the front and rear wheels, respectively.
  • the vehicle moves in the lateral direction with the vehicle facing in the front-rear direction, that is, moves laterally.
  • the rack case attached to the front and rear wheels moves in the front-rear direction or the vertical direction, thereby turning the wheel up to 90 degrees with respect to the straight traveling direction.
  • the rack case can be moved in the front-rear direction or the up-down direction, for example, by following the rotation of the wheel by the aforementioned moving actuator or in-wheel motor.
  • all wheels are parallel to the same direction and the same angle with respect to the straight traveling direction of the vehicle. That is, the center line of all the wheels (axle center line) forms a certain angle with respect to the longitudinal direction of the vehicle, and the center lines of all the wheels are parallel.
  • the movement of the moving actuator is locked, or the rack case is fixed by a restraining mechanism provided separately, so that the vehicle can move more stably.
  • a fine adjustment function it is possible to finely adjust the tire angle by a slight movement in the left-right direction with respect to the straight traveling direction of the vehicle by the rack case. This slight movement is possible by moving the rack bar arranged in the rack case in a predetermined direction by the operation of a normally used steering actuator.
  • the small turning mode is a mode in which the rear wheels and the front wheels are steered in opposite phases, and can be rotated with a smaller diameter than when only two wheels are steered.
  • the front wheels are steered to a predetermined angle and the rear wheels are steered in the opposite phase to the front wheels by the movement of the rack bars respectively attached to the front and rear wheels.
  • the rack bar arranged in the rack case can be steered in the corresponding direction by moving the left and right wheels of the front wheels and the left and right wheels of the rear wheels by moving in either the left or right direction with respect to the straight direction. it can.
  • the rack bar can be moved left and right by a steering actuator used in the normal traveling mode, or by a steering operation shaft connected to the steering if it is a front wheel.
  • the mode is switched depending on the vehicle speed. For example, by controlling so as not to be in the small turning mode at a speed of 20 km / h or more, safe traveling is ensured.
  • the toe adjustment can be performed by moving the rack case attached to the rear wheel in the front-rear direction or the up-down direction with respect to the straight direction by the front-rear movement actuator.
  • the vehicle body can travel stably by using toe-in.
  • mode switching is performed according to the vehicle speed, and for example, safe driving is ensured by performing control so as to be effective only at speeds of 80 km / h or higher.
  • the danger avoidance mode is a mode in which, in a vehicle equipped with a four-wheel steering mechanism, the rear wheels and the front wheels are steered in the same phase or the opposite phase, ensuring a risk avoidance posture at an early stage, and improving traveling stability.
  • the front wheels are steered to a predetermined angle and the rear wheels are steered to the same or opposite phase as the front wheels by the movement of the rack bars respectively attached to the front and rear wheels.
  • the rack bar arranged in the rack case can be steered in the corresponding direction by moving the left and right wheels of the front wheels and the left and right wheels of the rear wheels by moving in either the left or right direction with respect to the straight direction. it can.
  • the rack bar can be moved left and right by a steering actuator used in the normal travel mode.
  • in-wheel motor By providing an in-wheel motor on the wheel connected to a rack case that can be moved back and forth or up and down, in normal driving mode, it operates without discomfort with conventional steering operation, in-situ rotation, lateral movement, small turn, etc.
  • Various driving modes may also be possible. Further, the cost can be reduced without using a complicated mechanism or control.
  • FIG. 2 is a plan view showing the small turn mode
  • FIG. 5 is a plan view showing the small turn mode
  • FIG. 7 is a plan view showing the small turn mode.
  • FIG. 7 is a plan view showing the danger avoidance mode.
  • FIG. 7 is a plan view showing the in-situ rotation mode.
  • FIG. 7 is a plan view showing a lateral movement (parallel movement) mode.
  • FIG. 12 is a plan view showing the small turn mode
  • FIG. 12 is a plan view showing the small turn mode
  • the in-wheel motor M is mounted in the wheel of the driving wheel of the vehicle 1 either in the front-rear direction, the left-right direction, or in all the wheels W.
  • the in-wheel motor M By providing the in-wheel motor M, various travel patterns are possible.
  • FIG. 1 shows an image diagram of a vehicle 1 using the steering device of this embodiment. It shows a two-seater (side-by-side two-seat) vehicle body with ultra-compact mobility.
  • the present invention is not limited to ultra-compact mobility and can also be applied to ordinary vehicles.
  • FIG. 2 is a schematic plan view showing a drive system and a control path of the vehicle 1 of the first embodiment.
  • the front wheel has a normal steering device in which the rack case does not move back and forth and up and down
  • the rear wheel has the steering device of the present invention in which the rack case is movable back and forth and up and down. Adopted.
  • a rack bar 11 that connects the left and right wheels W (FL, FR) is housed in a rack case (steering box) 10. Both ends of the rack bar 11 are connected to the wheels W via tie rods 12, respectively.
  • Various members such as a knuckle arm are appropriately interposed between the tie rod 12 and the wheel W.
  • a rack bar 21 connecting the left and right wheels W (RL, RR) is divided into two in the middle, and the divided rack bar 21 is a rack case (steering box) 20. Is housed inside. Both ends of the rack bar 21 are connected to the wheels W via tie rods 22, respectively. The same is true in that various members such as a knuckle arm may be appropriately interposed between the tie rod 22 and the wheel W.
  • the front wheel rack case 10 has a steering actuator 31 or a steering operation shaft connected to the steering wheel 2 if it is a front wheel.
  • the rear wheel rack case 20 has a steering actuator 31 and a moving actuator.
  • An actuator 32 is provided.
  • an engine control unit 40 moves in the left-right direction of the rack bar 11 based on information from the sensor 41 that detects the steering angle of the steering 2 of the driver's seat or the steering torque. Calculates and outputs the required amount of movement or operating force. Based on the output, the actuator driver 30 commands the front-wheel steering actuator 31 to steer the left and right wheels W in the necessary direction by a necessary angle.
  • the sensor 41 is provided on the operation shaft 3 that rotates about the axis as the steering 2 rotates.
  • the steering device for the front wheels is not limited to the steer-by-wire method in which the steering operation performed by the driver is replaced with an electric signal and steered.
  • general steering using a mechanical link rack and pinion mechanism or the like
  • An apparatus can also be employed.
  • the function of the steering actuator 31 assists by calculating a torque necessary for the movement of the rack bar 11 in the left-right direction by a steering operated by the driver, or a motor connected to the steering operation shaft.
  • the ECU 40 requires the rack bar 21 to move in the left-right direction based on information from the sensor 41, input from the mode switching means 42, or determination of the running state by the ECU 40 itself. Calculate and output the quantity. Based on the output, the actuator driver 30 commands the rear-wheel steering actuator 31 to steer the left and right wheels W in a necessary direction by a necessary angle. Similarly, the ECU 40 outputs a necessary amount of movement of the rack case 20 in the front-rear direction and the up-down direction. Based on the output, the actuator driver 30 instructs the rear-wheel movement actuator 32 to The required amount of the rack case 20 is moved.
  • the driver can operate the steering 2 to go straight through the front wheel steering device, turn right, turn left, and so on, depending on the situation.
  • the actuator driver 30 instructs the rear wheel moving actuator 32 to move the rack case 20 backward based on the output of the ECU 40.
  • the left and right wheels RL, RR of the rear wheels are in a state where the front side is slightly closed (toe-in state) relative to the parallel state, and stable high-speed traveling is possible.
  • This toe adjustment may be automatically performed based on the determination of the traveling state such as the vehicle speed and the load applied to the axle by the ECU 40, or may be performed based on the input from the mode switching means 42 provided in the cab. You may be made to be.
  • the mode switching means 42 can switch the driving mode by operating the switches by the driver.
  • the mode switching means 42 may be, for example, a switch, lever, joystick, etc. that can be operated by the driver.
  • the mode switching means 42 is also used when switching each driving mode described later.
  • FIG. 3 shows that in the vehicle 1 of the first embodiment, the rear wheels are steered in the same direction as the front wheel steering direction by the steering actuator 31 (in the figure, both the front and rear wheels are steered to the right). Therefore, it is possible to run diagonally for the purpose of avoiding danger.
  • the vehicle In the oblique running, the vehicle can be moved in the lateral direction (parallel movement) such as a lane change while the vehicle is directed in the front-rear direction or hardly changed in direction. This operation makes it possible to avoid danger from obstacles ahead.
  • the moving actuator 32 for example, an actuator constituted by a linear motion mechanism such as a motor, a gear, and a ball screw can be employed.
  • a linear motion mechanism such as a motor, a gear, and a ball screw
  • the rack case 20 can be moved in the front-rear direction or the vertical direction with respect to the vehicle body.
  • the moving actuator 32 serves as both the vertical moving means and the forward / backward moving means of the rack case 20, but the vertical moving means and the forward / backward moving means may be provided separately. Further, if necessary, either one of the vertically moving means and the forward / backward moving means may be provided, and the other may be omitted. This is the same for the corresponding rack cases 10 and 20 in each embodiment described later.
  • the steering actuator 31 can be composed of a linear motion mechanism such as a rack and pinion, a motor, a worm gear, or the like.
  • a linear motion mechanism such as a rack and pinion, a motor, a worm gear, or the like.
  • FIG. 4 shows that in the vehicle 1 of the first embodiment, the left and right wheels RL and RR of the rear wheels are steered in opposite phases by largely moving the rack case 20 of the rear wheels forward by the moving actuator 32. is doing.
  • the left and right wheels RL and RR of the rear wheels are in a state where the rear side is largely closed in a plan view.
  • the vehicle 1 can make a small turn around the intersection of the wheel center lines (axle center lines) of the rear wheels.
  • the intersection of the respective wheel center lines of the rear wheels is set at the center of the left and right wheels FL, FR of the front wheels, the small turning is smooth.
  • FIG. 5 shows a second embodiment.
  • a steering device according to the present invention in which the rack case 10 is movable back and forth and up and down is used for the front wheels as drive wheels, and the rear wheels are not provided with a steering device.
  • the left and right wheels RL and RR of the rear wheels that are driven wheels are connected by an axle 23.
  • the ECU 40 calculates and outputs a necessary amount of movement of the rack bar 11 in the left-right direction based on information from the sensor 41. Based on the output, the actuator driver 30 commands the front-wheel steering actuator 31 to steer the left and right wheels W in the necessary direction by a necessary angle.
  • the ECU 40 needs to move in the front-rear direction and the vertical direction of the rack case 10 based on information from the sensor 41, input from the mode switching means 42, or judgment of the running state by the ECU 40 itself.
  • the actuator driver 30 moves the rack case 10 of the front wheel by a necessary amount based on the output.
  • the steering device for the front wheels is not limited to the steer-by-wire system, and a general steering device using a mechanical link (such as a rack and pinion mechanism) can be adopted.
  • the function of the steering actuator 31 is exhibited by the steering operated by the driver or the motor connected to the operation shaft of the steering.
  • FIG. 6 shows the vehicle 1 according to the second embodiment, in which the left and right wheels of the front wheels are steered in opposite phases by largely moving the rack case 10 of the front wheels rearward by the moving actuator 32.
  • the left and right wheels FL and FR of the front wheels are in a state where the front side is largely closed in a plan view.
  • the vehicle 1 can make a small turn around the intersection of the wheel center lines (axle center lines) of the front wheels.
  • the intersection of the wheel center lines of the front wheels is set at the center between the left and right wheels RL and RR of the rear wheels, the small turning is smooth.
  • FIG. 7 shows a third embodiment.
  • the front wheels and the rear wheels are drive wheels, and the steering device of the present invention is employed in which the rack cases 10 and 20 are movable forward and backward and vertically, respectively.
  • the configuration of the steering device for the front wheels is the same as that of the second embodiment, and the configuration of the steering device for the rear wheels is the same as that of the first embodiment.
  • the ECU 40 calculates and outputs a necessary amount of movement of the rack bar 11 in the left-right direction based on information from the sensor 41. Based on the output, the actuator driver 30 commands the front-wheel steering actuator 31 to steer the left and right wheels W in the necessary direction by a necessary angle.
  • the ECU 40 needs to move in the front-rear direction and the vertical direction of the rack case 10 based on information from the sensor 41, input from the mode switching means 42, or judgment of the running state by the ECU 40 itself. Based on the output, the actuator driver 30 moves the rack case 10 of the front wheels through the moving actuator 32 by a necessary amount.
  • the steering device for the front wheels is not limited to the steer-by-wire system, and a general steering device using a mechanical link (such as a rack and pinion mechanism) can be adopted.
  • the function of the steering actuator 31 is exhibited by the steering operated by the driver or the motor connected to the operation shaft of the steering.
  • the ECU 40 moves in the front-rear direction and the vertical direction of the rack case 20 based on information from the sensor 41, input from the mode switching means 42, or determination of the running state by the ECU 40 itself. Is output, and the actuator driver 30 moves the rack case 20 of the rear wheel through the actuator 32 for movement based on the output.
  • FIG. 8 shows a vehicle 1 according to the third embodiment, in which the front wheels and the rear wheels are steered in opposite phases by the respective steering actuators 31, and in this state, the driving force of the in-wheel motor M included in each of the four wheels Indicates a state in which a small turn is possible.
  • the control method of the steering actuator 31 and the movement actuator 32 is the same as that of the above-mentioned embodiment.
  • FIG. 9 also shows a state in which the vehicle 1 according to the third embodiment turns the front wheels and the rear wheels in the same phase to enable oblique traveling. In this travel mode, the stability of the vehicle body can be ensured during unstable travel such as when avoiding danger.
  • FIG. 10 shows a vehicle 1 according to a third embodiment in which the front rack case 10 is largely moved backward by the moving actuator 32 and the rear rack case 20 is moved by the moving actuator 32 (the amount of movement of the front wheel). This shows a state in which the rack case 20 has moved forward by the same distance as the movement amount of the rack case 20 from the steady position to the rear.
  • the driving force of the in-wheel motor M provided for each of the four wheels enables in-situ rotation about the center of the vehicle as the turning center. At this time, it is not always necessary to drive all the in-wheel motors M, and some in-wheel motors M may be driven as necessary.
  • FIG. 11 shows a vehicle 1 according to the third embodiment in which the front wheel rack case 10 is further moved backward by the moving actuator 32 and the rear wheel rack case is moved by the front wheel front / rear moving actuator ( This shows a state where the front wheel rack case 20 has moved forward by the same distance as the amount of rearward movement of the rack case 20 from the steady position.
  • all the steering angles of the wheels are set to 90 degrees (90 degrees with respect to the straight traveling direction), and in this state, the lateral movement (parallel movement) is performed by the driving force of each in-wheel motor M included in each of the four wheels. It becomes possible. Also in this case, it is not always necessary to drive all the in-wheel motors M, and some in-wheel motors M may be driven as necessary, but at least one of the left and right front wheels and the rear wheels It is desirable that either of the left and right sides is driven.
  • FIG. 12 shows a fourth embodiment.
  • the front wheel is provided with a normal steering device in which the rack case 10 does not move back and forth and up and down, and the rack case 20 is movable back and forth and up and down on the rear wheel.
  • a certain steering device of the present invention is employed.
  • the rear wheel steering device in a straight traveling state, the rear wheel steering device (rack bar 21, rack case 20, etc.) has a connection point between the wheel W and the tie rod 12 (when a knuckle arm is used, the knuckle arm and tie rod 12 It is located behind the connection point).
  • a steering device that is movable back and forth and up and down is mounted on the front wheels, it is opposite to the case of the rear wheels, and the steering device is more than the connection point between the wheels W and the tie rods 12. It will be located in the front.
  • FIG. 13 shows the vehicle 1 of the fourth embodiment in which the rear wheel rack case 20 is moved forward by the moving actuator 32 to steer the left and right wheels RL and RR to opposite phases. Yes. If the in-wheel motor M is driven in this state, the vehicle 1 can make a small turn around the intersection of the respective wheel center lines (axle center lines) of the rear wheels. Here, since the intersection of the respective wheel center lines of the rear wheels is set at the center of the left and right wheels FL, FR of the front wheels, the small turning is smooth.
  • FIG. 14 similarly shows a state in which the vehicle 1 of the fourth embodiment is capable of making a small turn by turning the rear wheels in opposite phases with respect to the front wheels.
  • the operation mode set in each embodiment can be switched in addition to the normal travel mode by operating the mode switching means 42 in the passenger compartment during each operation mode. Specifically, it is possible to select a normal traveling mode, an in-situ rotation mode, a lateral movement mode, a small turn mode, and the like. If switching can be performed by a switch operation or the like, safer operation is possible.
  • the rack is arranged so that the center of the vehicle 1 has the center of rotation.
  • the four wheels can be steered only by moving the cases 10 and 20 in the front-rear direction. At this time, the movement of the rack bars 11 and 21 in the left-right direction and the movement of the rack cases 10 and 20 in the vertical direction are restricted, and the operation can be simplified and stable rotation is enabled.
  • the rack is set so that the steering angle of the four wheels becomes 90 degrees.
  • the cases 10 and 20 can be steered only by moving in the front-rear direction. During the movement of the rack cases 10 and 20 in the front-rear direction, the movement of the rack bars 11 and 21 in the left-right direction and the movement of the rack cases 10 and 20 in the vertical direction are restricted. If the rudder angle of the four wheels is 90 degrees, the front and rear and vertical movements of the rack cases 10 and 20 are fixed, the left and right restraints of the rack bars 11 and 21 are released, and only the left and right movements are performed. Finely adjust the rudder angle of the wheel W. By controlling in this way, the wheel W can be easily positioned and steered even during lateral movement.
  • the rack cases 10 and 20 Movement in the front / rear / up / down direction is restricted, and control is performed according to the speed range.
  • the front wheels and the rear wheels are steered only in the same phase to enable stable running.
  • the front wheels and the rear wheels can be set so that they can be steered only in opposite phases and can turn slightly.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
  • Power Steering Mechanism (AREA)

Abstract

L'invention concerne un dispositif de direction comportant un boîtier de crémaillère (10, 20) relié entre des roues (W) d'au moins des roues avant ou des roues arrière d'un véhicule (1). Une barre de crémaillère (11, 21) permet de tourner des roues gauches et droites (W) en se déplaçant vers la gauche ou vers la droite par rapport à une direction de déplacement en ligne droite du véhicule (1). Le dispositif de direction comporte un moyen de déplacement (32) destiné à déplacer le boîtier de crémaillère (10, 20) dans une direction avant-arrière ou une direction haut-bas. Les roues (W) auxquelles est reliée la barre de crémaillère (11, 21) comportent des moteurs (M) intégrés à la roue. Le véhicule peut se mouvoir latéralement ou décrire un virage serré et similaire sans utiliser de mécanisme complexe.
PCT/JP2014/060391 2013-04-18 2014-04-10 Dispositif de direction, véhicule utilisant ce dispositif de direction, et véhicule équipé d'un mécanisme à quatre roues directrices WO2014171389A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
JP2013087329A JP2014210484A (ja) 2013-04-18 2013-04-18 ４輪転舵機構を備えた車両
JP2013087323A JP2014210481A (ja) 2013-04-18 2013-04-18 ステアリング装置及びそのステアリング装置を用いた車両
JP2013-087323 2013-04-18
JP2013-087329 2013-04-18

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Cited By (11)

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WO2016084570A1 (fr) * 2014-11-26 2016-06-02 Ntn株式会社 Dispositif de surveillance de périphérie de véhicule et procédé de commande de véhicule
CN106809274A (zh) * 2015-11-27 2017-06-09 比亚迪股份有限公司 车辆的转向机构及具有该转向机构的车辆
WO2017135191A1 (fr) * 2016-02-04 2017-08-10 Ntn株式会社 Procédé d'aide au stationnement
CN107618401A (zh) * 2017-08-29 2018-01-23 清华大学 用于电动车辆的模块化单车轮独立驱动模块
CN107813865A (zh) * 2016-09-14 2018-03-20 比亚迪股份有限公司 转向系统和车辆
CN108001527A (zh) * 2017-11-16 2018-05-08 西南交通大学 一种全转向底盘
CN109606459A (zh) * 2018-11-06 2019-04-12 北京理工大学 一种无人车辆独立转向装置
CN109677221A (zh) * 2019-02-14 2019-04-26 浙江亚太机电股份有限公司 穿过轮心的虚拟主销悬架系统
CN111232051A (zh) * 2020-02-25 2020-06-05 东南大学 一种轮式移动机器人转向控制方法
CN111232052A (zh) * 2020-02-25 2020-06-05 东南大学 一种用于四轮独立驱动电动汽车的四轮转向方式
CN113784880A (zh) * 2019-04-26 2021-12-10 戴姆勒股份公司 用于操作能够至少部分电驱动的机动车的驾驶员辅助系统以驱控四个车轮的方法、驾驶员辅助系统以及机动车

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JPS62187653A (ja) * 1986-02-13 1987-08-17 Toyota Motor Corp ステアリング装置
JPH01190587A (ja) * 1987-09-26 1989-07-31 Mazda Motor Corp 車輪のトー角制御装置
JPH01262261A (ja) * 1988-04-09 1989-10-19 Mazda Motor Corp 車両の後輪操舵装置
JPH03157273A (ja) * 1989-11-15 1991-07-05 Daihatsu Motor Co Ltd 四輪操舵装置
JP2001030939A (ja) * 1999-07-15 2001-02-06 Honda Motor Co Ltd 転回機構を備えた四輪車両
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Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2016084570A1 (fr) * 2014-11-26 2016-06-02 Ntn株式会社 Dispositif de surveillance de périphérie de véhicule et procédé de commande de véhicule
CN106809274A (zh) * 2015-11-27 2017-06-09 比亚迪股份有限公司 车辆的转向机构及具有该转向机构的车辆
WO2017135191A1 (fr) * 2016-02-04 2017-08-10 Ntn株式会社 Procédé d'aide au stationnement
CN107813865A (zh) * 2016-09-14 2018-03-20 比亚迪股份有限公司 转向系统和车辆
CN107618401A (zh) * 2017-08-29 2018-01-23 清华大学 用于电动车辆的模块化单车轮独立驱动模块
CN108001527A (zh) * 2017-11-16 2018-05-08 西南交通大学 一种全转向底盘
CN109606459A (zh) * 2018-11-06 2019-04-12 北京理工大学 一种无人车辆独立转向装置
CN109677221A (zh) * 2019-02-14 2019-04-26 浙江亚太机电股份有限公司 穿过轮心的虚拟主销悬架系统
CN109677221B (zh) * 2019-02-14 2023-11-14 浙江亚太机电股份有限公司 穿过轮心的虚拟主销悬架系统
CN113784880A (zh) * 2019-04-26 2021-12-10 戴姆勒股份公司 用于操作能够至少部分电驱动的机动车的驾驶员辅助系统以驱控四个车轮的方法、驾驶员辅助系统以及机动车
CN111232051A (zh) * 2020-02-25 2020-06-05 东南大学 一种轮式移动机器人转向控制方法
CN111232052A (zh) * 2020-02-25 2020-06-05 东南大学 一种用于四轮独立驱动电动汽车的四轮转向方式
CN111232052B (zh) * 2020-02-25 2022-03-04 东南大学 一种用于四轮独立驱动电动汽车的四轮转向方法

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