WO2019163278A1 - Dispositif de commande de roues arrière - Google Patents

Dispositif de commande de roues arrière Download PDF

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Publication number
WO2019163278A1
WO2019163278A1 PCT/JP2018/046907 JP2018046907W WO2019163278A1 WO 2019163278 A1 WO2019163278 A1 WO 2019163278A1 JP 2018046907 W JP2018046907 W JP 2018046907W WO 2019163278 A1 WO2019163278 A1 WO 2019163278A1
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WO
WIPO (PCT)
Prior art keywords
rear wheel
steering
control device
turning
neutral position
Prior art date
Application number
PCT/JP2018/046907
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English (en)
Japanese (ja)
Inventor
高太郎 椎野
Original Assignee
日立オートモティブシステムズ株式会社
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
Application filed by 日立オートモティブシステムズ株式会社 filed Critical 日立オートモティブシステムズ株式会社
Publication of WO2019163278A1 publication Critical patent/WO2019163278A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • 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

Definitions

  • the present invention relates to a rear wheel control device, and more particularly, to a technique for obtaining a steering direction and a steering amount of a rear wheel.
  • the gain of position feedback control that causes the actual position of the rear wheel turning shaft to follow the target position of the rear wheel turning shaft is maintained, and the axial position of the rear wheel turning shaft is maintained at the neutral position. Set to a high response value when locked.
  • the output of the sensor that detects the rudder angle of the rear wheels is the same output when the rear wheels are steered to the right from the neutral position and when the rear wheels are steered to the left from the neutral position.
  • the controller that inputs the signal of the sensor and outputs the steering drive signal of the rear wheel when the power is turned on and the steering information has disappeared is based on the sensor output. In some cases, the steering direction could not be determined.
  • An object of the present invention is to provide a rear wheel control device capable of obtaining rear wheel steering information including a steering direction.
  • an output signal of an angle sensor capable of detecting an angle that changes in accordance with a turning amount of a rear wheel of the vehicle, a steering direction and a turning direction of the front wheel of the vehicle.
  • the front wheel steering information signal which is a steering amount signal, and the judgment result of whether the steering direction from the neutral position of the rear wheel matches or does not match the steering direction from the neutral position of the front wheel Based on this, the direction and amount of steering of the rear wheels are derived.
  • FIG. 1 is an overall configuration diagram showing an aspect of a vehicle steering system.
  • the vehicle 1 in FIG. 1 is a four-wheel vehicle having a left front wheel FL, a right front wheel FR, a left rear wheel RL, and a right rear wheel RR.
  • the electric power steering device 2 applies an assist force to the steering shaft 4 and the steering mechanism 5 that transmits the rotation of the steering wheel 3 steered by the driver to the steering shaft 4 that steers the left and right front wheels FL and FR.
  • an assist mechanism 6 for performing the operation.
  • the steering mechanism 5 has a steering input shaft 7 connected to the steering wheel 3.
  • the pinion shaft 8 provided at the tip of the steering input shaft 7 meshes with the rack teeth of the rack 9 formed on the outer periphery of the steered shaft 4 (rack bar).
  • the pinion shaft 8 is rotated by the rotation of the steering wheel 3, the steered shaft 4 is moved in the longitudinal direction (axial direction), and the left and right front wheels FL and FR are steered.
  • the assist mechanism 6 includes an electric motor 10 and a transmission mechanism 11 such as a ball screw mechanism that converts the rotational motion of the electric motor 10 into linear motion of the steered shaft 4.
  • the front wheel steering controller 12 includes a microcomputer having a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and the like, and a drive circuit for the electric motor 10.
  • the electric power steering apparatus 2 includes a steering torque sensor 13 that detects the steering torque input to the steering wheel 3 and a front wheel steering angle sensor 14 that detects the steering angle of the front wheels FL and FR as the rotation angle of the steering input shaft 7.
  • the front wheel steering controller 12 controls the rotation of the electric motor 10 based on the steering torque detected by the steering torque sensor 13, the steering angle (deg) detected by the front wheel steering angle sensor 14, etc. The assist force applied to the is controlled.
  • the steering system of the vehicle 1 includes a rear wheel control device 21 that gives a steering angle to the left and right rear wheels RL and RR.
  • the rear wheel control device 21 includes a steered shaft 22 that steers left and right rear wheels RL and RR, an electric motor 23 that is a rear wheel actuator that generates thrust to steer the rear wheels RL and RR, and an electric motor.
  • a transmission mechanism 24 that converts the rotational motion of 23 into the linear motion of the steered shaft 22.
  • the transmission mechanism 24 includes a pinion shaft 25 that is driven to rotate by the electric motor 23 and a rack 26 that is formed on the outer periphery of the steered shaft 22, and the pinion shaft 25 meshes with the rack teeth of the rack 26. Then, the pinion shaft 25 and the rack teeth of the rack 26 mesh with each other, whereby the rotational motion of the electric motor 23 is converted into the linear motion of the steered shaft 22 (rack bar), and the steered shaft 22 is in the longitudinal direction (axial direction).
  • the left and right rear wheels RL and RR are steered by moving to.
  • the rear wheel steering controller 27 includes a microcomputer having a CPU, a ROM, a RAM, and the like, a drive circuit for the electric motor 23, and outputs a drive signal for the electric motor 23.
  • the rear wheel control device 21 includes a rear wheel steering angle sensor 28 that is an angle sensor that detects the steering angle of the rear wheels RL and RR as the rotation angle of the pinion shaft 25. Then, the rear wheel steering controller 27 determines the drive signal of the electric motor 23 so that the steering angles (the steering direction and the steering amount) of the rear wheels RL and RR detected by the rear wheel steering angle sensor 28 approach the target values. Then, the determined drive signal is output to the electric motor 23 to control the rotation direction and the rotation amount of the electric motor 23.
  • FIG. 2 shows one aspect of the structure of the transmission mechanism 24 and the rear wheel steering angle sensor 28.
  • the transmission mechanism 24 has a speed reducer 30 for reducing the rotational speed of the electric motor 23 and transmitting it to the pinion shaft 25 together with the pinion shaft 25 and the rack 26 described above.
  • a worm gear in which a worm (screw gear) 31 and a worm wheel (helical gear) 32 are combined is used.
  • the worm 31 is coaxially connected to the tip of the output shaft of the electric motor 23 and rotates integrally with the output shaft of the electric motor 23.
  • the base end 25B of the pinion shaft 25 is inserted into a through hole 32A provided along the axial center of the worm wheel 32, the worm wheel 32 and the pinion shaft 25 are integrated, and the pinion shaft 25 is supported by the bearing 25A.
  • the worm wheel 32 and the pinion shaft 25 are configured to rotate integrally.
  • a disk-like permanent magnet 28A constituting the rear wheel steering angle sensor 28 is supported at the tip of a rod-like support member 33 extending along the axis from the base end 25B of the pinion shaft 25, and permanently The magnet 28 ⁇ / b> A rotates around the axis integrally with the pinion shaft 25.
  • a sensor element substrate 28C on which the sensor element 28B is mounted is fixed at a position facing the permanent magnet 28A with a predetermined gap therebetween.
  • the sensor element 28B is a magnetic sensor element such as a GMR (Giant Magneto Resistive) element that detects the magnetic field strength of the permanent magnet 28A.
  • GMR Green Magneto Resistive
  • the rear wheel steering angle sensor 28 having the permanent magnet 28A and the sensor element 28B is an angle sensor that can detect the angle of the pinion shaft 25 that changes according to the amount of steering of the rear wheels RL and RR of the vehicle 1.
  • the rear wheel steering angle sensor 28 outputs a signal indicating the angle (deg) of the pinion shaft 25 to the rear wheel steering controller 27.
  • the rear wheel rudder angle sensor 28, which is an angle sensor that detects the angle of the pinion shaft 25, is not limited to an angle sensor that combines a permanent magnet and a magnetic sensor element, and various known angle sensors are appropriately employed. it can.
  • the rear wheel control device 21 includes a rear wheel steering lock mechanism 41 shown in FIG.
  • the rear wheel steering lock mechanism 41 fixes the steering shaft 22, in other words, regulates the steering of the rear wheels RL and RR so that the steering amount (steering angle) of the rear wheels RL and RR is maintained. It is a mechanism to do.
  • the rear wheel steering lock mechanism 41 includes a lock pin 41A and a solenoid coil 41B that generates a magnetic force that moves the lock pin 41A along the axial direction.
  • the lock pin 41 ⁇ / b> A is engaged with the rack teeth of the rack 26 to restrict the movement of the steered shaft 22, and the unlocked position allows the steered shaft 22 to move without engaging with the rack teeth of the rack 26. It can be moved between.
  • the solenoid coil 41B is in an off state (energization cut-off state)
  • the lock pin 41A moves to the lock position and meshes with the rack teeth of the rack 26, thereby restricting the movement of the steered shaft 22.
  • the rear wheel steering controller 27 has a function of controlling on / off (energization / non-energization) of the solenoid coil 41B.
  • the vehicle control controller 51 includes a microcomputer having a CPU, a ROM, a RAM, and the like, and has a function of integrally controlling the vehicle.
  • the vehicle controller 51 reads the outputs of wheel speed sensors 53A-53D that detect the rotational speed of each wheel. Further, the vehicle control controller 51, the front wheel steering controller 12, and the rear wheel steering controller 27 can communicate with each other via an in-vehicle network 52 such as a CAN (Controller Area Network).
  • CAN Controller Area Network
  • the vehicle controller 51 determines the turning direction (left turn / right turn) and the turning from the neutral position of the rear wheels RL, RR based on the vehicle speed (km / h) and the turning information of the front wheels FL, FR.
  • the target value of the steering amount is calculated, and the target value is transmitted to the rear wheel steering controller 27.
  • the rear wheel control device 21 has a function of calculating the steering direction of the rear wheels RL and RR and a target value of the steering amount, and a function of determining and outputting a drive signal of the electric motor 23 based on the target value.
  • the vehicle controller 51 calculates the turning direction from the neutral position of the front wheels FL and FR and the neutral position of the rear wheels RL and RR in calculating the steering direction and the target value of the turning amount of the rear wheels RL and RR.
  • the in-phase mode in which the steered direction is made coincident (the same direction) and the steered direction from the neutral position of the front wheels FL, FR and the steered direction from the neutral position of the rear wheels RL, RR are inconsistent (reverse direction) )
  • an anti-phase mode selects the anti-phase mode when the vehicle speed is less than a predetermined value (when the vehicle speed is low or stopped), and the in-phase mode when the vehicle speed is equal to or greater than the predetermined value (when the vehicle speed is high). Select.
  • FIG. 4 is a diagram illustrating a steered state of the front wheels FL and FR and the rear wheels RL and RR in the reverse phase mode.
  • the reverse phase mode when the front wheels FL and FR are steered in the right direction (left direction) from the neutral position, the rear wheels RL and RR are steered in the left direction (right direction) from the reverse neutral position.
  • the anti-phase mode the minimum turning radius of the vehicle 1 is reduced and the turning performance of the vehicle 1 is improved. Therefore, the operability of the vehicle 1 during parking is improved by setting the anti-phase mode during parking.
  • FIG. 5 is a diagram illustrating a steered state of the front wheels FL and FR and the rear wheels RL and RR in the same phase mode.
  • the same phase mode when the front wheels FL and FR are steered in the right direction (left direction) from the neutral position, the rear wheels RL and RR are steered in the same right direction (left direction) from the neutral position.
  • the stability of the vehicle 1 is improved. For example, by changing to the in-phase mode in a lane change on a highway, the lane change can be performed in a state where the vehicle behavior is stable.
  • the controllability of the vehicle can be improved by switching the control mode of the rear wheels RL and RR according to the driving state (vehicle speed) of the vehicle 1.
  • FIG. 6 is a diagram showing the output characteristics of the front wheel steering angle sensor 14 and the output characteristics of the rear wheel steering angle sensor 28 in the reverse phase mode.
  • the front wheel rudder angle sensor 14 turns the front wheels FL, FR to the left to the maximum turning angle, in other words, from the output ⁇ f when the steered shaft 4 is moved to the left steered to the maximum (Sf).
  • Sf the output of the front wheels FL and FR
  • the front wheels FL and FR are steered to the right to the maximum turning angle, in other words, when the steered shaft 4 is moved to the maximum in the right steered direction ( ⁇ Sf) until the output ⁇ f
  • the sensor output ⁇ f (deg) changes linearly.
  • the front wheel steering angle sensor 14 When the output ⁇ f of the front wheel steering angle sensor 14 is zero, it indicates that the steered shaft 4 is in the neutral position (the turning angle is zero), and when the output ⁇ f is positive, the steered shaft 4 is When the output ⁇ f is negative, it indicates that the steering shaft 4 is moving in the right steering direction from the neutral position, and the absolute value of the output ⁇ f.
  • the front wheel steering angle sensor 14 is an absolute steering angle sensor that can detect the steering direction and the steering amount of the front wheels FL and FR, which are front wheel steering information signals, from the output (instantaneous value).
  • the output characteristic of the front wheel steering angle sensor 14 is realized, for example, by decelerating the rotation of the steering input shaft 7 with a gear or the like and transmitting it to the rotating body and detecting the angle of the rotating body.
  • the rear wheel steering angle sensor 28 is an angle sensor that detects the angle of the pinion shaft 25, and the output ⁇ r that represents the angle (deg) of the pinion shaft 25 changes linearly while the pinion shaft 25 rotates once. It is a sensor.
  • the rear wheel control device 21 when the rear wheels RL and RR are steered to the left to the maximum turning angle, in other words, when the steered shaft 22 is moved to the left steered direction from the neutral position to the maximum.
  • the output ⁇ r of the rear wheel steering angle sensor 28 is adjusted so as to change based on the neutral position of the rear wheels RL and RR.
  • the output ⁇ r of the rear wheel steering angle sensor 28 gradually increases from the initial value corresponding to 0 deg as the steered shaft 22 moves in the right steered direction from the neutral position, and the steered shaft 22 becomes neutral.
  • a value ⁇ rR smaller than a value corresponding to 360 deg is shown when the maximum movement from the position in the right turning direction is performed.
  • the output ⁇ r of the rear wheel steering angle sensor 28 gradually decreases from the initial value corresponding to 360 deg as the steered shaft 22 moves in the left steered direction from the neutral position, and the steered shaft 22 is neutral.
  • a value ⁇ rL (0 deg ⁇ rL ⁇ rR ⁇ 360 deg) larger than a value corresponding to 0 deg is shown when the leftward movement is maximized from the position.
  • the front wheels FL and FR are steered leftward from the neutral position, and the rear wheels RL and RR are moved from the neutral position to the right according to the increase in the turning angle of the front wheels FL and FR in the leftward direction.
  • the output ⁇ r of the rear wheel steering angle sensor 28 gradually increases from a value corresponding to 0 deg.
  • the front wheels FL and FR are steered to the right from the neutral position, and the rear wheels RL and RR move from the neutral position to the left according to the increase in the turning angle of the front wheels FL and FR to the right.
  • the output ⁇ r of the rear wheel steering angle sensor 28 gradually decreases from a value corresponding to 360 deg.
  • the rear wheel rudder angle sensor 28 does not use a speed reducer, and thus has a simple structure and low cost. Further, since there is little backlash, highly accurate angle detection is possible.
  • the rear wheel steering controller 27 cannot identify the direction and amount of steering from the neutral position of the rear wheels RL and RR from the instantaneous value of the output of the rear wheel steering angle sensor 28.
  • the rear wheel steering controller 27 once derives the steering direction and the steering amount from the neutral position of the rear wheels RL and RR, which are the steering information signals of the rear wheels RL and RR, and thereafter, the electric motor 23 Since the change direction of the steering can be recognized based on the drive signal output to the rear wheel, even if the left sensor and the right sensor may have the same sensor output, the rear wheel is based on the output ⁇ r of the rear wheel steering angle sensor 28. The direction and amount of steering from the neutral position of RL and RR can be obtained.
  • the rear wheel steering controller 27 is in a state in which the steering direction from the neutral position of the rear wheels RL and RR is unknown, such as when energization of the rear wheel steering controller 27 is started, and from the neutral position of the rear wheels RL and RR.
  • a function for deriving the direction and amount of steering from the output ⁇ r of the rear wheel steering angle sensor 28 (hereinafter referred to as a rear wheel steering information deriving function) is provided.
  • the time when the energization of the rear wheel steering controller 27 is started is when the ignition switch (power switch) of the vehicle 1 is switched from OFF to ON.
  • FIG. 7 is a functional block diagram of the rear wheel control device 21 including the rear wheel steering controller 27 and the rear wheel steering angle sensor 28.
  • the rear wheel steering controller 27 includes a front wheel steering information signal acquisition unit 271, a front and rear wheel steering direction comparison determination unit 272, a rear wheel steering information deriving unit 273, a storage unit 274 having a nonvolatile memory 274A, and a rear wheel drive signal output unit 275.
  • Wake-up IC wake-up circuit
  • the front wheel steering information signal acquisition unit 271 detects information (front wheel steering information signal) of the steering direction and the steering amount from the neutral position of the front wheels FL and FR detected by the front wheel steering angle sensor 14, and the front wheel steering angle sensor 14. Directly or via the vehicle controller 51.
  • the front / rear wheel turning direction comparison / determination unit 272 determines whether the turning direction from the neutral position of the rear wheels RL, RR matches or does not match the turning direction from the neutral position of the front wheels FL, FR. .
  • the rear wheel steering control has the opposite phase mode and the same phase mode.
  • the steering direction from the neutral position of the rear wheels RL and RR and the neutral position of the front wheels FL and FR are determined.
  • the steered direction becomes inconsistent, and in the same phase mode, the steered direction from the neutral position of the rear wheels RL and RR coincides with the steered direction from the neutral position of the front wheels FL and FR. Therefore, the front / rear wheel turning direction comparison / determination unit 272 controls the turning / recognition of the turning direction from the neutral position by controlling the turning of the rear wheels RL, RR in the same phase mode or the rear wheels RL, This can be determined by controlling the turning of the RR.
  • the front and rear wheel turning direction comparison determination unit 272 determines whether the vehicle speed at which the reverse phase mode is selected or whether the in-phase mode is selected. Depending on whether the vehicle speed is selected, it is possible to determine whether or not the steering directions from the neutral position match.
  • the rear wheel steering information deriving unit 273 outputs the output ⁇ r of the rear wheel steering angle sensor 28, information on the steering direction and the steering amount from the neutral position of the front wheels FL, FR (front wheel steering information signal), and the neutral position from the neutral position.
  • Information on the turning direction and the amount of turning from the neutral position of the rear wheels RL and RR is derived based on information on whether the turning direction is the same or not on the front wheels FL and FR and the rear wheels RL and RR. .
  • the rear wheel steering information deriving unit 273 derives information on the steering direction and the steering amount from the neutral position of the rear wheels RL and RR.
  • the rear wheel steering information deriving unit 273 is based on information on whether the front wheel steering information signal and the steering direction from the neutral position match or do not match between the front wheels FL and FR and the rear wheels RL and RR.
  • the steering direction from the neutral position of the wheels RL, RR is specified, and further, the steering amount indicated by the output ⁇ r of the rear wheel steering angle sensor 28 at that time in the specified steering direction is obtained, whereby the rear wheels RL, Information on the turning direction and turning amount from the neutral position of RR is derived.
  • the ignition switch of the vehicle 1 is switched from on to off (the power supply to the rear wheel steering controller 27 is cut off) because the vehicle speed is low and the steering of the rear wheels RL and RR is controlled in the reverse phase mode. If the steered position is maintained when the ignition switch is off, the steered position is in the reverse phase mode even when the ignition switch is switched from off to on.
  • the front / rear wheel steering direction comparison / determination unit 272 performs rear wheel RL, It is estimated that the steering of the RR is in a controlled state, and it can be determined that the steering directions from the neutral position are inconsistent between the front wheels FL, FR and the rear wheels RL, RR.
  • the rear wheel steering controller 27 does not output the output ⁇ r of the rear wheel steering angle sensor 28, the front wheels FL, FR.
  • the rear wheel steering controller 27 newly sets the rear wheels RL and RR when the ignition switch is turned off. Steering control of the rear wheels RL and RR can be resumed.
  • the rear wheel steering controller 27 stores the steering information of the rear wheels RL and RR in the nonvolatile memory 274A when the ignition switch is turned off
  • the rear wheel steering controller 27 When the vehicle is switched on, the newly derived steering information of the rear wheels RL and RR is compared with the steering information of the rear wheels RL and RR stored in the nonvolatile memory 274A. The accuracy of the turning information of the rear wheels RL and RR stored in the memory 274A can be determined.
  • the rear wheel steering controller 27 is, for example, in a transient state in which the rear wheels RL and RR are steered from the neutral position to the right to steer the rear wheels RL and RR toward the left of the neutral position.
  • the steering direction from the neutral position of the rear wheels RL and RR is determined to be right, and the rear wheels RL and RR have passed the neutral position.
  • the steering direction from the neutral position of the rear wheels RL, RR is determined to be left.
  • the flowchart of FIG. 8 shows the processing procedure of the rear wheel steering information deriving unit 273 in detail when the ignition switch is turned on and energization of the rear wheel steering controller 27 is started.
  • the rear wheel steering information deriving unit 273 reads the output ⁇ f of the front wheel steering angle sensor 14 in step S102. .
  • the rear wheel steering information deriving unit 273 reads the output ⁇ r of the rear wheel steering angle sensor 28 in step S103. Then, the rear wheel steering information deriving unit 273 determines whether or not the output ⁇ f of the front wheel steering angle sensor 14 is greater than or equal to zero in the next step S104.
  • the steering of the rear wheels RL and RR is controlled in the anti-phase mode before the vehicle is turned off (the vehicle speed is less than a predetermined value). Will be. Further, while the ignition switch is turned off, the steered state of the front wheels FL and FR and the rear wheels RL and RR at the time when the ignition switch is turned off is normally maintained. For this reason, when the ignition switch is turned on, the rear wheel steering controller 27 is in a state in which the direction of steering from the neutral position of the rear wheels RL and RR does not coincide with the direction of steering from the neutral position of the front wheels FL and FR. It can be estimated that (anti-phase mode).
  • the rear wheel steering information deriving unit 273 maintains the steered state in the reverse phase mode when the vehicle speed at which the ignition switch is turned off is less than the predetermined value. Can be estimated.
  • the rear wheels RL and RR are moved to the right from the neutral position. If the front wheels FL and FR are steered to the right from the neutral position, the rear wheels RL and RR are steered to the left from the neutral position. .
  • the rear-wheel steering information deriving unit 273 is unclear whether the output ⁇ r of the rear-wheel steering angle sensor 28 represents the amount of steering from the neutral position to the right or the amount of steering from the neutral position to the left. Is determined based on the vehicle speed whether the stored steering state is due to the in-phase mode or the anti-phase mode, and the rear wheel RL is determined based on the determination result. , RR can be derived from the neutral position.
  • step S104 the rear wheel turning information deriving unit 273 calculates a steering amount Sr in the right direction from the neutral position of the rear wheels RL and RR in accordance with the following mathematical formula (1).
  • Sr ( ⁇ r / 360) ⁇ Cf (1)
  • Cf is the movement amount (mm) in the longitudinal direction of the steered shaft (rack bar) 22 per rotation of the pinion shaft 25.
  • the information of the angle (deg) of the pinion shaft 25 represented by the output ⁇ r of the rear wheel steering angle sensor 28 is expressed by the formula (1) from the neutral position of the turning shaft (rack bar) 22 in the right turning direction. It is converted into information on the movement amount (mm).
  • the output ⁇ r of the rear wheel steering angle sensor 28 is a value that can be obtained only at the neutral position of the rear wheels RL and RR
  • the rear wheel steering information deriving unit 273 determines that the steering positions of the rear wheels RL and RR are neutral. The position is determined.
  • step S104 the rear wheel turning information deriving unit 273 calculates a steering amount Sr in the left direction from the neutral position of the rear wheels RL and RR in accordance with the following mathematical formula (2).
  • Sr ⁇ ( ⁇ r ⁇ 360) / 360 ⁇ ⁇ Cf (2)
  • Cf is the amount of movement (mm) in the longitudinal direction of the steered shaft (rack bar) 22 per rotation of the pinion shaft 25.
  • the rear wheels RL and RR are steered leftward from the neutral position, and the smaller the angle of the pinion shaft 25 represented by the output ⁇ r of the rear wheel rudder angle sensor 28, the steered.
  • shaft (rack bar) 22 has moved largely by the left steering direction (refer FIG. 6). Therefore, the information of the angle (deg) of the pinion shaft 25 represented by the output ⁇ r of the rear wheel steering angle sensor 28 is expressed by the formula (2) from the neutral position of the turning shaft (rack bar) 22 to the left turning direction. It is converted into information on the movement amount (mm).
  • the held turning state is the turning state in the reverse phase mode at the low vehicle speed. It is estimated that the steering direction from the neutral position of the front wheels FL and FR and the steering direction from the neutral position of the rear wheels RL and RR are inconsistent. Then, the rear wheel steering controller 27 (rear wheel steering information deriving unit 273) includes information on matching / mismatching of the steering direction, information on the steering direction from the neutral position of the front wheels FL and FR, and the rear wheel steering angle sensor 28. Is derived from the neutral position of the rear wheels RL and RR.
  • the rear wheel steering angle sensor 28 is a sensor that cannot detect the steering direction from the neutral position of the rear wheels RL and RR (in other words, the absolute steering angle cannot be detected), the rear wheel steering is performed.
  • the controller 27 can obtain information on turning of the rear wheels RL and RR including the turning direction from the neutral position.
  • the rear wheel steering controller 27 derives information on the steering of the rear wheels RL and RR including the steering direction from the neutral position as described above, and then the rear wheels RL, although the control for changing the turning position of the RR is performed, since the change direction of the turning can be detected based on the drive signal output to the electric motor 23, the same sensor output may be obtained in the left turn state and the right turn state. Even if there is, the steering direction and the steering amount from the neutral position of the rear wheels RL and RR can be sequentially obtained based on the output ⁇ r of the rear wheel steering angle sensor 28, and feedback control to the target steering position can be performed.
  • the rear wheel drive signal output unit 275 includes information on the steering direction and the steering amount from the neutral position of the rear wheels RL and RR derived by the rear wheel steering information deriving unit 273, and the rear wheel calculated by the vehicle controller 51. Based on the target values for the steering control of RL and RR, the drive signal for the electric motor 23 is determined, and the determined drive signal is output to the electric motor 23. That is, the rear wheel drive signal output unit 275 performs feedback control for setting the drive signal of the electric motor 23 so that the actual steered position of the rear wheels RL and RR derived by the rear wheel steering information deriving unit 273 approaches the target value. carry out.
  • the rear wheel drive signal output unit 275 steers from the neutral position of the front wheels FL and FR.
  • the rear wheel steering execution determination unit 276 determines whether to execute or stop the steering control of the rear wheels RL and RR. For example, the rear wheel steering execution determination unit 276 determines the start of execution of the steering control of the rear wheels RL and RR when an ignition switch that starts energizing the rear wheel steering controller 27 is turned on. When the ignition switch that cuts off the power supply to the rear wheel steering controller 27 is turned off, it is determined to stop the steering control of the rear wheels RL and RR.
  • the rear wheel drive signal output unit 275 When the rear wheel steering execution determination unit 276 determines that the steering control of the rear wheels RL and RR is stopped, the rear wheel drive signal output unit 275 outputs the rear wheels RL and RR derived by the rear wheel steering information deriving unit 273.
  • the steering position of the rear wheels RL, RR is returned to the neutral position by feedback control of the electric motor 23 based on the steering information of the rear wheel RL.
  • the rear wheel drive signal output unit 275 determines whether or not the steering control of the rear wheels RL and RR is stopped. The steering position of the rear wheels RL and RR is returned to the neutral position.
  • the rear wheel steering controller 27 will return the rear wheel when the ignition switch is turned on.
  • the steering control of the rear wheels RL and RR can be started assuming that RL and RR are in the neutral position. Further, even when the rear wheels RL, RR cannot return the steering position to the neutral position, or even when the rear wheel steering controller 27 does not have a function of returning to the neutral position, the flowchart shown in FIG. Further, by the processing function of the rear wheel turning information deriving unit 273, the turning information of the rear wheels RL and RR is derived, and the turning control of the rear wheels RL and RR can be started.
  • the rear wheel steering lock control unit 277 controls the energization of the solenoid coil 41B of the rear wheel steering lock mechanism 41, thereby controlling the rear wheel steering lock and the rear wheel steering lock release by the rear wheel steering lock mechanism 41. To do. After the ignition switch is switched off, when the steering of the rear wheels RL and RR is operated from the outside due to vehicle maintenance accompanied by lift-up of the vehicle 1, the steering state when the ignition switch is switched off Is changed, and there is a possibility that the turning position corresponding to the opposite phase mode is changed to the turning position corresponding to the same phase mode.
  • the rear wheel steering lock control unit 277 cuts off the power supply to the solenoid coil 41B of the rear wheel steering lock mechanism 41 when the ignition switch is turned off and the power supply to the rear wheel steering controller 27 is cut off.
  • the lock state is entered, and the lock state is maintained while the ignition switch is off.
  • the rear wheel steering controller 27 starts energization of the solenoid coil 41B to release the lock, and the ignition switch is on. Is held in the unlocked state and enables the rear wheels RL and RR to be steered. As a result, the turning position of the rear wheels RL and RR is prevented from being inadvertently changed while the ignition switch is off, the ignition switch is turned on and energization of the rear wheel steering controller 27 is started. Steering information of the rear wheels RL and RR can be correctly derived.
  • the storage unit 274 is derived after the rear wheel steering information deriving unit 273 derives.
  • the steering information of the wheels RL and RR is stored in the nonvolatile memory 274A.
  • the rear wheel steering controller 27 newly steered rear wheel RL and RR, and the rear wheel RL and RR steered information stored in the nonvolatile memory 274A.
  • the accuracy of the turning information of the rear wheels RL and RR stored in the nonvolatile memory 274A can be determined, and more accurate information can be obtained as the turning information of the rear wheels RL and RR. it can.
  • FIG. 9 shows a lock / unlock process by the rear wheel steering lock control unit 277 when the ignition switch is turned on and off, and a neutral position return process by the rear wheel drive signal output unit 275 when the ignition switch is turned off.
  • the operation will be described with reference to the flowchart of FIG.
  • the flowchart in FIG. 9 shows the processing when the ignition switch is turned on.
  • the rear wheel steering lock control unit 277 energizes the solenoid coil 41B of the rear wheel steering lock mechanism 41 in step S122 to turn on the rear wheels RL and RR. Release the steering lock. As a result, the rear wheels RL and RR can be steered. Therefore, the rear wheel drive signal output unit 275 starts the steering control of the rear wheels RL and RR in step S123.
  • the flowchart of FIG. 10 shows a process when the ignition switch is turned off.
  • the rear wheel drive signal output unit 275 performs control for returning the rear wheels RL and RR to the neutral position in step S132.
  • the rear wheel steering lock control unit 277 cuts off the energization to the solenoid coil 41B of the rear wheel steering lock mechanism 41 in step S133 and turns the rear wheels RL and RR on.
  • the process shifts to the steered lock state, and the lock of the steered shaft 22 is completed in step S134.
  • the storage unit 274 stores the steering information of the rear wheels RL and RR in the nonvolatile memory 274A when locked by the rear wheel steering lock mechanism 41 in step S134.
  • the rear wheel steering controller 27 has a function of starting energization when the ignition switch is turned on and shutting off the power supply after the ignition switch is turned off, and the power supply after the processing in step S134 is completed. Performs self-blocking.
  • the rear wheel steering information deriving unit 273 can have a function of calibrating the result of deriving the steering information of the rear wheels RL and RR when it can be estimated that the vehicle is in the neutral position. That is, the vehicle speed is higher than the determination speed (determination speed> 0 km / h), which is a condition that is satisfied when the rear wheels RL and RR are in the neutral position, and the rotational speed of the left rear wheel RL and the right rear wheel When the absolute value of the difference from the rotation speed of RR becomes smaller than a threshold value (threshold value> 0 rpm), the rear wheel steering information deriving unit 273 estimates that the rear wheels RL and RR are in the neutral position.
  • the rear wheel steering information deriving unit 273 estimates that the rear wheels RL and RR are in the neutral position
  • the steering information of the rear wheels RL and RR is calibrated to the neutral position.
  • the rear wheel steering controller 27 provides information on matching / non-coincidence of the steering direction between the front wheels FL, FR and the rear wheels RL, RR, information on the steering direction from the neutral position of the front wheels FL, FR.
  • information on the wheel speed difference between the rear wheels RL and RR is taken into account, and information on the steering direction and the steering amount from the neutral position of the rear wheels RL and RR (rear wheel steering information). ) Can be obtained with high accuracy.
  • the wake-up circuit 278 monitors whether or not the steering amount of the rear wheels RL and RR has changed while the ignition switch that is de-energized to the rear wheel steering controller 27 is turned off, and if the steering amount changes, the rear wheel steering controller 27 has a function of starting energization to 27.
  • the wake-up circuit 278 is arranged in the vicinity of the sensor element 28B of the rear wheel steering angle sensor 28 (see FIG. 2), and while the ignition switch is off, in other words, while the power supply to the rear wheel steering controller 27 is stopped. Power is supplied from a power source (battery).
  • the wake-up circuit 278 detects the presence or absence of a change in magnetic flux due to the rotation of the permanent magnet 28A constituting the rear wheel steering angle sensor 28 while the ignition switch is off.
  • the ignition switch is turned off, the turning shaft 22 is moved in the longitudinal direction by the turning operation of the rear wheels RL and RR from the outside.
  • the pinion shaft 25 is driven to rotate by the movement of the turning shaft 22, the pinion
  • the permanent magnet 28A rotates integrally with the shaft 25, the magnetic flux changes, and the wake-up circuit 278 detects the magnetic flux change.
  • the wake-up circuit 278 detects the presence / absence of the steering operation of the rear wheels RL and RR from the outside while the ignition switch is off.
  • the wake-up circuit 278 outputs a wake-up signal for starting energization of the rear wheel steering controller 27 when detecting a magnetic flux change (the steering operation of the rear wheels RL and RR).
  • the rear wheel steering controller 27 is activated by turning on the power based on the wake-up signal, the rear wheel steering information deriving unit 273 resumes the calculation of the steering information of the rear wheels RL and RR.
  • the rear wheel steering information deriving unit 273 reads the steering information of the rear wheels RL and RR stored in the nonvolatile memory 274A, that is, the steering information of the rear wheels RL and RR when the ignition switch is turned off.
  • the steering information is updated based on a change in the output ⁇ r of the rear wheel steering angle sensor 28 after that, as an initial value.
  • the storage unit 274 is updated by the rear wheel steering information deriving unit 273.
  • the steering information of the rear wheels RL and RR is stored in the nonvolatile memory 274A.
  • the wake-up circuit 278 when the rear wheels RL and RR are steered from the outside due to vehicle maintenance accompanied by lift-up of the vehicle 1 while the ignition switch is turned off, the steering information by the steer operation is concerned. Can be detected, and more accurate information can be obtained as the steering information of the rear wheels RL and RR. Further, in a system that does not include the rear wheel steering lock mechanism 41, the steering operation of the rear wheels RL and RR cannot be suppressed from the outside while the ignition switch is turned off, and when the steering operation is performed, the rear wheels RL and RR are controlled. The precision of steering control will be reduced.
  • the wake-up circuit 278 is provided, even if the rear wheels RL and RR are operated to the steering state in the same phase mode, the steering information of the rear wheels RL and RR is updated according to the operation. It is possible to suppress the deterioration of the accuracy of the steering control.
  • the rear wheel turning information deriving unit 273 When the rear wheel turning information deriving unit 273 is activated by the wake-up circuit 278, the output ⁇ r of the rear wheel steering angle sensor 28, the front wheel turning information, and the turning from the neutral position shown in the flowchart of FIG. Based on the information (reverse phase mode / in-phase mode discrimination information) on whether the rudder direction matches or does not match between the front wheels FL and FR and the rear wheels RL and RR, the wheel shifts from the neutral position of the rear wheels RL and RR. Processing for deriving information on the steering direction and the amount of steering is performed, and the steering information can be updated based on the change in the output ⁇ r of the rear wheel steering angle sensor 28 thereafter.
  • the steering information stored in the nonvolatile memory 274A by the storage unit 274 is at least from the neutral position of the rear wheels RL and RR. It is preferable to include information on the rudder direction.
  • the rear wheel steering angle sensor 28 shown in FIG. 2 detects the angle of the pinion shaft 25 constituting the transmission mechanism that transmits the rotation of the electric motor 23 to the steered shaft 22 of the rear wheels RL, RR.
  • a motion direction conversion mechanism for detecting the movement of the turning shaft 22 in the longitudinal direction as the angle of the rotating member can be provided.
  • the motion direction conversion mechanism is a mechanism that converts the linear motion of the steered shaft 22 into the rotational motion of the rotating member, and the angle of the rotating member is the movement of the steered shaft 22 in the longitudinal direction, that is, the rear wheel RL.
  • RR represents the rudder angle.
  • a ball screw mechanism 81 as a transmission mechanism that converts the rotational motion of the electric motor 23 into the linear motion of the steered shaft 22 of the rear wheels RL and RR.
  • a rack 26-2 is formed on the outer periphery of the steered shaft 22 of the rear wheel control device 21-2, and a pinion shaft 25-2 that meshes with the rack teeth of the rack 26-2 is provided.
  • a rear wheel steering angle sensor 28-2 for detecting the steering angle of the rear wheels RL and RR by detecting the angle of the pinion shaft 25-2 is provided.
  • the rear wheel rudder angle sensor 28-2 includes, for example, a permanent magnet and a magnetic sensor element such as a GMR element for detecting the magnetic field strength by the permanent magnet, like the rear wheel rudder angle sensor 28, and includes a permanent magnet (pinion shaft).
  • 25-2) is a sensor whose output changes linearly between a minimum value and a maximum value when one rotation is made.
  • the amount of movement of the steered shaft 22 in the longitudinal direction is detected as the angle of the rotating member by the transmission mechanism that transmits the driving force generated by the electric motor 23 to the steered shaft 22. Even when the sensor cannot be installed, the amount of movement of the steered shaft 22 in the longitudinal direction can be detected using the angle sensor. Further, the movement direction conversion mechanism composed of the rack 26-2 and the pinion shaft 25-2 is not a transmission mechanism that transmits the thrust generated by the electric motor 23 to the steered shaft 22, but moves in the longitudinal direction of the rack 26-2. Accordingly, the pinion shaft 25-2 is driven to rotate.
  • the pinion shaft 25-2 as a rotating member does not require high rigidity, and the movement direction conversion mechanism can be reduced in weight and size by using the pinion shaft 25-2 as a small and lightweight member.
  • the pinion shaft 25-2 can be formed of a resin material.
  • the rear wheel rudder angle sensor 28 and the rear wheel rudder angle sensor 28-2 are both sensors that detect the angle of the pinion shaft as a rotating member.
  • the member is not limited to the pinion shaft.
  • the rear wheel control device 21-3 in FIG. 12 converts the rotational motion of the electric motor 23 into the linear motion of the steered shaft 22 of the rear wheels RL and RR, similarly to the rear wheel control device 21-2 in FIG.
  • a ball screw mechanism 81 is provided as a mechanism.
  • the rear wheel control device 21-3 includes a combination of a motion direction conversion mechanism and a speed reducer.
  • the steered shaft 22 of the rear wheel control device 21-2 includes a rack 26-3 on the outer periphery.
  • the pinion shaft 25-3 meshes with the rack teeth of the rack 26-3.
  • the rear wheel control device 21-2 includes a reduction gear 82 that meshes with the pinion shaft 25-3.
  • the motion direction conversion mechanism including the rack 26-3 and the pinion shaft 25-3 performs the linear motion in the longitudinal direction of the steered shaft 22 by the electric motor 23 to rotate the pinion shaft 25-3 (rotating member). Convert to motion.
  • the reduction gear 82 rotates as the pinion shaft 25-3 rotates.
  • the reduction gear 82 reduces the rotational speed of the pinion shaft 25-3, and the pinion shaft 25-3 and the reduction gear 82 constitute a reduction gear.
  • the rear wheel steering angle sensor 28-3 detects the steering angle of the rear wheels RL and RR by detecting the angle of the reduction gear 82.
  • the rear wheel rudder angle sensor 28-3 includes, for example, a permanent magnet and a magnetic sensor element such as a GMR element for detecting the magnetic field strength by the permanent magnet, like the rear wheel rudder angle sensor 28, and a reduction gear 82 is provided. It is a sensor whose output changes linearly between a minimum value and a maximum value when it makes one revolution.
  • a transmission mechanism that transmits the driving force generated by the electric motor 23 to the turning shaft 22 is detected as the amount of movement of the turning shaft 22 in the longitudinal direction as the angle of the rotating member. Even when the sensor cannot be installed, the amount of movement of the steered shaft 22 in the longitudinal direction can be detected using the angle sensor. Further, the motion direction conversion mechanism composed of the rack 26-3 and the pinion shaft 25-3 and the speed reducer composed of the pinion shaft 25-3 and the reduction gear 82 are used to convert the thrust generated by the electric motor 23 into the turning shaft. This is not a transmission mechanism that transmits to the motor 22 but a mechanism that rotates the pinion shaft 25-3 and the reduction gear 82 in accordance with the movement of the rack 26-3 in the longitudinal direction.
  • the pinion shaft 25-3 and the reduction gear 82 do not require high rigidity, and the pinion shaft 25-2 and the reduction gear 82 are made small and lightweight, so that the movement direction conversion mechanism and the reduction gear can be reduced in weight. Miniaturization can be achieved.
  • the pinion shaft 25-2 and the reduction gear 82 can be formed of a resin material.
  • the rear wheel control device 21-3 can detect the steered amounts of the rear wheels RL and RR in a wider range by adjusting the reduction ratio of the reduction gear 82.
  • the rear wheel control device can include a power cylinder such as a hydraulic cylinder instead of the electric motor as a rear wheel actuator.
  • the rear wheel control device uses a link mechanism as a mechanism for converting the linear motion of the steered shaft 22 into the rotational motion of the rotating member, and can detect the angle of the rotating member rotated by the link mechanism with an angle sensor. .
  • the rear wheel steering lock mechanism 41 is not limited to a structure that restricts the steering of the rear wheels RL and RR by engagement with the steering shaft 22.
  • the rear wheel steering lock mechanism 41 restricts the rotation of the pinion shaft 25. It can be set as the structure which controls steering of RL and RR.
  • the wake-up circuit 278 may, for example, operate the turning amount of the rear wheels RL and RR from the outside when it is detected that the vehicle 1 is lifted up, that is, by vehicle maintenance accompanied by lift-up. At some point, energization of the rear wheel steering controller 27 can be started.
  • this invention is not limited to above-described embodiment, Various modifications are included.
  • the above-described embodiment has been described in detail for easy understanding of the present invention, and is not necessarily limited to one having all the configurations described.
  • a part of the configuration of an embodiment can be replaced with the configuration of another embodiment, and the configuration of another embodiment can be added to the configuration of an embodiment.
  • SYMBOLS 1 ... Vehicle, 21 ... Rear wheel control apparatus, 22 ... Steering shaft (rack bar), 23 ... Electric motor (rear wheel actuator), 24 ... Transmission mechanism, 25 ... Pinion shaft, 26 ... Rack, 27 ... Rear wheel rolling Rudder controller (controller), 28 ... rear wheel steering angle sensor (angle sensor), 41 ... rear wheel steering lock mechanism, 271 ... front wheel steering information signal acquisition unit, 272 ... front and rear wheel steering direction comparison judgment unit, 273 ... rear wheel rotation Rudder information deriving unit, 278 ... Wake-up circuit, RL, RR ... Rear wheel

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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

L'invention concerne un dispositif de commande de roues arrière (21), lequel dispositif dérive la direction et la quantité de virage pour des roues arrière sur la base : du signal de sortie d'un capteur d'angle (28) apte à détecter un angle qui change en fonction de la quantité de rotation des roues arrière (ARG, ARD) d'un véhicule (1) ; d'un signal d'information de virage de roues avant, qui est un signal pour la direction et la quantité de virage des roues avant (AVG, AVD) du véhicule ; et du résultat de la détermination du fait que la direction de virage à partir de la position neutre des roues arrière correspond ou non à la direction de virage à partir de la position neutre des roues avant.
PCT/JP2018/046907 2018-02-23 2018-12-20 Dispositif de commande de roues arrière WO2019163278A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2018030570A JP2019142434A (ja) 2018-02-23 2018-02-23 後輪制御装置
JP2018-030570 2018-02-23

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WO2019163278A1 true WO2019163278A1 (fr) 2019-08-29

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Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61295176A (ja) * 1985-06-24 1986-12-25 Daihatsu Motor Co Ltd 四輪操舵装置
JPH01301462A (ja) * 1988-05-27 1989-12-05 Mazda Motor Corp 自動車の舵角センサ取付構造
JPH03164377A (ja) * 1989-11-22 1991-07-16 Nissan Motor Co Ltd 四輪操舵装置の制御装置
JPH0453751B2 (fr) * 1983-06-08 1992-08-27 Matsuda Kk
JPH04325381A (ja) * 1991-04-24 1992-11-13 Nissan Motor Co Ltd 後輪操舵装置
JPH0537645U (ja) * 1991-10-31 1993-05-21 日本精工株式会社 舵角検出装置
JP2004284522A (ja) * 2003-03-24 2004-10-14 Shiyooshin:Kk 農業用車輌
JP2013173441A (ja) * 2012-02-24 2013-09-05 Aisin Seiki Co Ltd 舵角検出装置、舵角検出方法、及びプログラム
JP2014121904A (ja) * 2012-12-20 2014-07-03 Jtekt Corp 後輪操舵装置
WO2014148087A1 (fr) * 2013-03-19 2014-09-25 日立オートモティブシステムズステアリング株式会社 Dispositif de direction assistée et dispositif de commande d'un dispositif de direction assistée
JP2017517433A (ja) * 2014-05-20 2017-06-29 ローベルト ボッシュ オートモーティブ ステアリング ゲゼルシャフト ミット ベシュレンクテル ハフツングＲｏｂｅｒｔ Ｂｏｓｃｈ Ａｕｔｏｍｏｔｉｖｅ Ｓｔｅｅｒｉｎｇ ＧｍｂＨ ステアリングギア

Patent Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0453751B2 (fr) * 1983-06-08 1992-08-27 Matsuda Kk
JPS61295176A (ja) * 1985-06-24 1986-12-25 Daihatsu Motor Co Ltd 四輪操舵装置
JPH01301462A (ja) * 1988-05-27 1989-12-05 Mazda Motor Corp 自動車の舵角センサ取付構造
JPH03164377A (ja) * 1989-11-22 1991-07-16 Nissan Motor Co Ltd 四輪操舵装置の制御装置
JPH04325381A (ja) * 1991-04-24 1992-11-13 Nissan Motor Co Ltd 後輪操舵装置
JPH0537645U (ja) * 1991-10-31 1993-05-21 日本精工株式会社 舵角検出装置
JP2004284522A (ja) * 2003-03-24 2004-10-14 Shiyooshin:Kk 農業用車輌
JP2013173441A (ja) * 2012-02-24 2013-09-05 Aisin Seiki Co Ltd 舵角検出装置、舵角検出方法、及びプログラム
JP2014121904A (ja) * 2012-12-20 2014-07-03 Jtekt Corp 後輪操舵装置
WO2014148087A1 (fr) * 2013-03-19 2014-09-25 日立オートモティブシステムズステアリング株式会社 Dispositif de direction assistée et dispositif de commande d'un dispositif de direction assistée
JP2017517433A (ja) * 2014-05-20 2017-06-29 ローベルト ボッシュ オートモーティブ ステアリング ゲゼルシャフト ミット ベシュレンクテル ハフツングＲｏｂｅｒｔ Ｂｏｓｃｈ Ａｕｔｏｍｏｔｉｖｅ Ｓｔｅｅｒｉｎｇ ＧｍｂＨ ステアリングギア

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