JP2783298B2 - Four-wheel drive control device for four-wheel steering vehicle - Google Patents
Four-wheel drive control device for four-wheel steering vehicleInfo
- Publication number
- JP2783298B2 JP2783298B2 JP12500791A JP12500791A JP2783298B2 JP 2783298 B2 JP2783298 B2 JP 2783298B2 JP 12500791 A JP12500791 A JP 12500791A JP 12500791 A JP12500791 A JP 12500791A JP 2783298 B2 JP2783298 B2 JP 2783298B2
- Authority
- JP
- Japan
- Prior art keywords
- wheel
- steering
- wheel steering
- wheel drive
- rear wheels
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
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- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
- Arrangement And Driving Of Transmission Devices (AREA)
Description
【０００１】[0001]
【産業上の利用分野】この発明は前輪と後輪とを操舵す
ることができ、また前後両輪に駆動力を伝達することの
できる車両において四輪駆動状態を制御するための装置
に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for controlling a four-wheel drive state in a vehicle capable of steering a front wheel and a rear wheel and transmitting a driving force to both front and rear wheels. .
【０００２】[0002]
【従来の技術】四輪駆動車は悪路走破性に優れるのみな
らず高速安定性に優れていることが知られている。また
前輪の操舵もしくは車両状態に応じて後輪に適当な舵角
を与えれば、車両の安定性が向上することが知られてい
る。そこで最近では、四輪駆動装置と四輪操舵装置とを
共に車両に搭載することが行われているが、四輪駆動装
置による前後輪へのトルクの分配の仕方や、四輪操舵装
置による後輪の操舵の仕方によって、車両のステア特性
等の特性が変化するので、従来では、四輪駆動装置と四
輪操舵装置とを相互に関連づけて制御することが行われ
ている。2. Description of the Related Art It is known that a four-wheel drive vehicle is excellent not only in running on rough roads but also in high-speed stability. It is also known that the stability of the vehicle is improved by giving an appropriate steering angle to the rear wheels according to the steering of the front wheels or the state of the vehicle. Therefore, recently, both a four-wheel drive device and a four-wheel steering device have been mounted on a vehicle.
Distributable specifications styles and the torque to the front and rear wheels Ru good in location, depending on how the steering of the rear wheels by the four-wheel steering apparatus, the characteristics such as the steering characteristic of the vehicle changes, conventionally, a four-wheel drive system Control is performed in association with a four-wheel steering device.
【０００３】例えば特開平１−１０９１８１号公報に記
載された発明では、トルク分配制御を行っているときに
は、後輪舵角比を減少させてオーバーステア傾向となる
よう制御することとしている。また特開昭６４−１８７
８１号公報に記載された発明では、前後輪間の差動を行
うためのセンタデフをロックさせたときに、前後輪の転
舵比特性をセンタデフフリーのときに比べて逆位相側に
補正することとしている。さらに特開昭６３−１６２３
７４号公報に記載された発明では、センタデフのロック
状態の旋回特性に適合する前後輪舵角比特性と、センタ
デフのフリー状態の旋回特性に適合する前後輪舵角比特
性とを予め定めておき、センターデフのロックあるいは
フリー状態に応じて、それらの前後輪舵角比特性を選択
し、それに基づいて後輪舵角を決定することとしてい
る。For example, in the invention described in Japanese Patent Application Laid-Open No. 1-109181, when the torque distribution control is performed, the rear wheel steering angle ratio is reduced so that the vehicle tends to be oversteered. Japanese Patent Application Laid-Open No. 64-187
In the invention described in Japanese Patent Publication No. 81, when the center differential for performing the differential between the front and rear wheels is locked, the steering ratio characteristic of the front and rear wheels is corrected to the opposite phase side as compared with the case of the center differential free. I have to do that. Further, JP-A-63-1623
In the invention described in Japanese Patent No. 74, front and rear wheel steering angle ratio characteristics suitable for turning characteristics of a center differential in a locked state and front and rear wheel steering angle ratio characteristics suitable for turning characteristics of a center differential in a free state are determined in advance. The front and rear wheel steering angle ratio characteristics are selected in accordance with the locked or free state of the center differential, and the rear wheel steering angle is determined based on the characteristics.
【０００４】[0004]
【発明が解決しようとする課題】上述したように四輪駆
動装置による前後輪へのトルクの分配の仕方によってス
テア特性が影響を受けるから四輪駆動装置を備えている
車両では、前後輪の転舵比（舵角比）を変えてステア特
性を調整している。しかしながら上記従来の装置では、
前後輪の差動回転数や車速および舵角などに応じて四輪
駆動状態（前後輪へのトルクの分配率）を設定し、それ
に応じた前後輪の転舵比を設定しているから、四輪操舵
装置のフェール等により後輪を転舵できない事態や前後
輪の転舵比の変更が他の何らかの制御との関係で禁止さ
れるなど、四輪操舵を行えなくなった場合には、その時
点での四輪駆動状態に応じたステア特性を四輪操舵装置
によって補完できず、ステア特性が所期どおりにならな
くなる不都合があった。As described above, since the steering characteristics are affected by the manner in which the four-wheel drive distributes the torque to the front and rear wheels, in a vehicle equipped with a four-wheel drive, the rotation of the front and rear wheels is reduced. The steering characteristics are adjusted by changing the steering ratio (steering angle ratio). However, in the above conventional device,
Since the four-wheel drive state (torque distribution ratio to the front and rear wheels) is set according to the differential rotation speed of the front and rear wheels, the vehicle speed, the steering angle, etc., the steering ratio of the front and rear wheels is set accordingly. If the rear wheels cannot be steered due to a failure of the four-wheel steering system, or if the change of the steering ratio of the front and rear wheels is prohibited due to some other control, the four-wheel steering cannot be performed. The steering characteristics according to the four-wheel drive state at the time cannot be complemented by the four-wheel steering device, and there is a disadvantage that the steering characteristics are not as expected.
【０００５】この発明は上記の事情に鑑みてなされたも
ので、四輪操舵を行えない事態となっても車両の安定性
を確保することのできる四輪駆動制御装置を提供するこ
とを目的とするものである。The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a four-wheel drive control device that can ensure the stability of a vehicle even when four-wheel steering cannot be performed. Is what you do.
【０００６】[0006]
【課題を解決するための手段】この発明は、図１に示す
ように、前輪１の操舵もしくは車両状態に応じて後輪２
を操舵する四輪操舵装置３と、これら前輪駆動系４と後
輪駆動系５とに駆動力を分配して与えるとともにその分
配率を変えることのできる四輪駆動装置６とを備えた四
輪操舵車両の四輪駆動制御装置において、前記四輪操舵
装置３による四輪操舵が不能になったことを検出する四
輪操舵不可検出手段７と、四輪操舵の不能が検出された
場合に、前後輪へのトルク分配率を四輪操舵が可能な場
合よりも均等に近づける前後輪間の差動制限を行う差動
制限手段８とを具備していることを特徴とするものであ
る。According to the present invention, as shown in FIG. 1, the rear wheels 2 are controlled according to the steering of the front wheels 1 or the state of the vehicle.
And a four-wheel drive device 6 capable of distributing and applying a driving force to the front wheel drive system 4 and the rear wheel drive system 5 and changing the distribution ratio. In a four-wheel drive control device for a steered vehicle, a four-wheel steering disable detection unit 7 that detects that four-wheel steering by the four-wheel steering device 3 has become inoperable, and when the inability of four-wheel steering is detected , And a differential limiting means for limiting the differential between the front and rear wheels so as to make the torque distribution ratio to the front and rear wheels more uniform than in the case where four-wheel steering is possible.
【０００７】[0007]
【作用】四輪駆動装置６はトルクを前輪駆動系４と後輪
駆動系５とに分配して伝達するが、その分配率は、一方
の出力軸のみにトルクを与える場合を含めて差動制限手
段８によって制御される。そして四輪操舵不可検出手段
７が四輪操舵を行えない事態を検出すると、その検出結
果に伴う出力信号によって差動制限手段８が、四輪駆動
装置６を介した前後輪間の差動制限を、四輪操舵可能状
態よりも強く行う。その結果、所謂直結四駆に近い状態
になるために、車両の安定性が向上する。The four-wheel drive unit 6 distributes the torque to the front wheel drive system 4 and the rear wheel drive system 5 and transmits the torque. The distribution ratio depends on the differential including the case where torque is applied to only one output shaft. Controlled by the limiting means 8. When the four-wheel steering impossible detecting means 7 detects that the four-wheel steering cannot be performed, the differential limiting means 8 uses the output signal accompanying the detection result to perform the differential limiting between the front and rear wheels via the four-wheel drive device 6. Is performed more strongly than in the four-wheel steering enabled state. As a result, the state becomes close to what is called a direct-coupled four-wheel drive, and the stability of the vehicle is improved.
【０００８】[0008]
【実施例】図２はこの発明の一実施例を模式的に示すブ
ロック図であって、ここに示す車両は、エンジン２０に
連結してある変速機２１からの出力トルクをトランスフ
ァ２２によって後輪２３と前輪２４とに分配するように
なっている。このトランスファ２２は、一例として、デ
ィファレンシャルギヤもしくはプラネタリギヤを介して
前後輪の差動回転を行いつつトルクを分配し、またその
差動作用を例えば多板クラッチで制限してトルクの分配
率を無段階もしくは有段に変えるようになっている。FIG. 2 is a block diagram schematically showing an embodiment of the present invention. In the vehicle shown here, the output torque from a transmission 21 connected to an engine 20 is transferred to a rear wheel by a transfer 22. 23 and the front wheels 24. As an example, the transfer 22 distributes torque while performing differential rotation of front and rear wheels via a differential gear or a planetary gear, and restricts the differential action by, for example, a multi-plate clutch to continuously adjust the torque distribution ratio. Or it is changed step by step.
【０００９】前後輪のトルク分配率を制御するために四
輪駆動用電子制御装置（以下、四駆用制御装置と記す）
２５が設けられている。これは、演算素子、記憶素子、
入出力インターフェース（それぞれ図示せず）を主体と
するものであって、この四駆用制御装置２５には、車
速、前後加速度、横加速度、前後輪の回転数等の信号、
ストップ信号、各種センサーのフェール信号などが入力
され、車両の走行状態に応じて前後輪のトルクの分配率
を求め、その算出されたトルク分配率を達成するようト
ランスファ２２に信号を出力するようになっている。In order to control the torque distribution ratio between the front and rear wheels, a four-wheel drive electronic control device (hereinafter referred to as a four-wheel drive control device)
25 are provided. This is the operation element, storage element,
The four-wheel drive control device 25 mainly includes an input / output interface (not shown). The four-wheel drive control device 25 includes signals such as a vehicle speed, a longitudinal acceleration, a lateral acceleration, and rotation speeds of front and rear wheels.
A stop signal, a failure signal of various sensors, and the like are input, a distribution ratio of torque of the front and rear wheels is obtained according to a traveling state of the vehicle, and a signal is output to the transfer 22 so as to achieve the calculated torque distribution ratio. Has become.
【００１０】また図２に示す車両は前輪２４の操舵もし
くは車両状態に応じて後輪２３を操舵する四輪操舵装置
を備えており、これは、前輪操舵機構２６における舵角
δと、ヨーレートセンサー２７で検出されるヨーレート
と、車速等のその他のデータとに基づいて、演算素子、
記憶素子、入出力インターフェース（それぞれ図示せ
ず）を主体とする四輪操舵電子制御装置（以下、四輪操
舵制御装置と記す）２８で演算を行い、その演算結果に
基づいて後輪操舵機構２９を動作させて後輪２３に前輪
２４と同位相もしくは逆位相の舵角を与えるようになっ
ている。この後輪操舵機構２９としては、後輪用のステ
アリングリンケージを駆動して後輪２３に舵角を与える
構成のもの、あるいはサスペンションバーを動かして後
輪２３に舵角を与えるものなどを採用することができ
る。The vehicle shown in FIG. 2 is provided with a four-wheel steering device that steers the front wheels 24 or steers the rear wheels 23 according to the vehicle state. This includes a steering angle δ in a front wheel steering mechanism 26, a yaw rate sensor An arithmetic element based on the yaw rate detected at 27 and other data such as vehicle speed,
An arithmetic operation is performed by a four-wheel steering electronic control device (hereinafter, referred to as a four-wheel steering control device) 28 mainly including a storage element and an input / output interface (not shown), and a rear-wheel steering mechanism 29 based on the calculation result. To give a steering angle to the rear wheel 23 in the same or opposite phase as the front wheel 24. Is a rear wheel steering mechanism 29 that, having a structure that gives steering angle to the rear wheel 23 to drive the steering linkage for the rear wheels, or the like which gives a steering angle to the rear wheel 23 by moving the suspension bar Can be adopted.
【００１１】そして四駆用制御装置２５と四輪操舵制御
装置２８とはデータ通信可能に接続されており、四輪操
舵装置のフェールや四輪操舵禁止条件の成立などの四輪
操舵を行えない事態が生じると、これを四輪操舵制御装
置２８が検出して四駆用制御装置２５に信号を送るよう
になっている。The four-wheel control device 25 and the four-wheel steering control device 28 are connected so as to be able to perform data communication, and cannot perform four-wheel steering such as failure of the four-wheel steering device or establishment of a four-wheel steering prohibition condition. When a situation occurs, the four-wheel steering control device 28 detects this and sends a signal to the four-wheel drive control device 25.
【００１２】上述した車両では、四輪操舵不能の場合
に、図３に示すにように制御が行われる。すなわち四輪
操舵不能の例として四輪操舵装置のフェール（４ＷＳフ
ェール）が検出されると（ステップ1 で“イエス”）、
それに伴う四輪駆動装置の特定制御が実行される（ステ
ップ2 ）。In the above-described vehicle, when four-wheel steering is impossible, control is performed as shown in FIG. That is, when a failure of the four-wheel steering system (4WS failure) is detected as an example of four-wheel steering failure (“Yes” in step 1),
The accompanying specific control of the four-wheel drive device is executed (step 2).
【００１３】この四輪駆動装置の特定制御は、要は、車
両の安定性を向上させるよう前後輪の差動制限を強める
ものであり、四駆用制御装置２５からトランスファ２２
に信号を送ることにより実行される。その具体的な制御
の例として、高速走行時の特定制御と、ホイールスピン
時の特定制御について説明する。The specific control of the four-wheel drive system is to strengthen the differential restriction between the front and rear wheels so as to improve the stability of the vehicle.
This is done by sending a signal to As specific examples of the specific control, specific control during high-speed running and specific control during wheel spin will be described.
【００１４】図４は高速走行時の制御ルーチンを示すフ
ローチャートであって、先ずステップ100 では車速Ｖが
予め定めた基準値Ｖ0 以上か否かを判断し、その判断結
果が“イエス”であれば、ステップ102 で前輪の舵角δ
が車速Ｖに応じた基準値δ0以下か否かを判断し、さら
にその判断結果が“イエス”であれば、四輪操舵装置が
フェールしているか否かを判断する（ステップ104 ）。
その判断結果が“ノー”であれば、四輪操舵可能な状態
でのほぼ直進の高速走行状態であるから、差動制限を行
う油圧クラッチの油圧Ｐを、スロットル開度に応じた所
定の油圧Ｐ2 に設定する（ステップ106 ）。これとは反
対に、四輪操舵を行えないためにステップ104 の判断結
果が“イエス”であれば、ステップ108 に進んで、油圧
Ｐを、前記油圧Ｐ2 より高くかつスロットル開度に応じ
た他の油圧Ｐ1 （＞Ｐ2 ）に設定する。他方、車速Ｖが
前記の基準値Ｖ0 より遅い場合（ステップ100 で“ノ
ー”）あるいは前輪の舵角δが前記の基準値δ0 より大
きい場合（ステップ102 で“ノー”）には、ステップ11
0 に進んで四輪操舵装置がフェールしているか否かを判
断し、その判断結果が“ノー”であれば、騒音の発生や
燃費の悪化を防止し、あるいはタイトコーナーブレーキ
ング現象を防止するために差動制限油圧Ｐを零にし、す
なわち前後輪の差動制限を行わない（ステップ112 ）。
またステップ110 の判断結果が“イエス”であれば、差
動制限油圧Ｐをスロットル開度に応じた第３の油圧Ｐ3
(＜Ｐ2 ）に設定する（ステップ114 ）。なお、高速走
行時の安定性のみを問題にする場合には、Ｐ3 ＝０とし
てもよい。FIG. 4 is a flowchart showing a control routine for high-speed running. First, at step 100, it is determined whether or not the vehicle speed V is equal to or higher than a predetermined reference value V0. , The steering angle δ of the front wheels in step 102
Is smaller than or equal to a reference value δ0 according to the vehicle speed V. If the result of the determination is “yes”, it is determined whether the four-wheel steering system has failed (step 104).
If the result of the determination is “No”, the vehicle is in a substantially straight-line high-speed running state in which four-wheel steering is possible, and the hydraulic pressure P of the hydraulic clutch for limiting the differential is set to a predetermined hydraulic pressure corresponding to the throttle opening. It is set to P2 (step 106). Conversely, if the result of determination in step 104 is "yes" because four-wheel steering cannot be performed, the process proceeds to step 108, where the hydraulic pressure P is set higher than the hydraulic pressure P2 and the other Is set to the hydraulic pressure P1 (> P2). On the other hand, if the vehicle speed V is lower than the reference value V0 ("No" in step 100) or if the steering angle δ of the front wheels is larger than the reference value δ0 ("No" in step 102), step 11 is executed.
Proceeding to 0, it is determined whether or not the four-wheel steering system has failed. If the result of the determination is "no", noise generation and deterioration of fuel efficiency are prevented, or tight corner braking is prevented. Therefore, the differential limiting hydraulic pressure P is set to zero, that is, the differential limiting of the front and rear wheels is not performed (step 112).
If the determination result of step 110 is "YES", the differential limiting hydraulic pressure P is changed to the third hydraulic pressure P3 corresponding to the throttle opening.
(<P2) (step 114). If only the stability at the time of high-speed running is a problem, P3 may be set to 0.
【００１５】したがって上記の制御装置を備えた車両で
は、高速走行時に四輪操舵を行えなければ、前後輪間の
差動が制限されて前後輪へのトルクの配分が、四輪操舵
時よりも均等に近くなり、その結果、直進安定性が良好
になる。Therefore, in a vehicle equipped with the above-described control device, if four-wheel steering cannot be performed during high-speed running, the differential between the front and rear wheels is limited, and the torque is distributed to the front and rear wheels. The steering becomes even more uniform than during steering, and as a result, the straight running stability is improved.
【００１６】図５はホイールスピンの有無に応じた制御
ルーチンを示すフローチャートであって、先ずステップ
200 では、四輪操舵装置がフェールしているか否かを判
断し、その判断結果が“ノー”であれば、ステップ202
に進んで、前後輪の回転数差ΔＮFRが予め定めた基準値
ΔＮ1 以上が否かを判断する（ステップ202 ）。その判
断結果が“ノー”であれば、差動制限クラッチの油圧Ｐ
を零に設定（ステップ204 ）して差動制限を行わず、ま
たステップ202 の判断結果が“イエス”であれば、クラ
ッチ油圧Ｐをスロットル開度に応じて予め定めた油圧Ｐ
7 に設定する（ステップ206 ）。これに対して四輪操舵
装置がフェールしていた場合（ステップ200 で“イエ
ス”）には、前後輪の回転数差ΔＮFRが、前記基準値Δ
Ｎ1 より小さい値の第２の基準値ΔＮ2 （＜ΔＮ1 ）以
上か否かを判断し（ステップ208 ）、その判断結果が
“ノー”であればステップ210 に進んでクラッチ油圧Ｐ
をスロットル開度に応じた所定の油圧Ｐ8 に設定する。
なお、Ｐ8 ＝０であってもよい。またステップ208 の判
断結果が“イエス”であれば、クラッチ油圧Ｐを、前記
油圧Ｐ7 より高くかつスロットル開度に応じた他の油圧
Ｐ9(＞Ｐ7 ）に設定する（ステップ212 ）。FIG. 5 is a flowchart showing a control routine according to the presence or absence of wheel spin.
At 200, it is determined whether or not the four-wheel steering system has failed, and if the determination result is "No", step 202
It is determined whether or not the rotational speed difference ΔN FR between the front and rear wheels is equal to or greater than a predetermined reference value ΔN 1 (step 202). If the determination result is “No”, the hydraulic pressure P of the differential limiting clutch
Is set to zero (step 204), no differential limitation is performed, and if the determination result in step 202 is "YES", the clutch hydraulic pressure P is set to a predetermined hydraulic pressure P according to the throttle opening.
7 is set (step 206). On the other hand, if the four-wheel steering system has failed (“YES” in step 200), the rotational speed difference ΔN FR between the front and rear wheels becomes equal to the reference value ΔF.
It is determined whether or not it is equal to or greater than a second reference value ΔN2 (<ΔN1) smaller than N1 (step 208). If the determination result is "no", the routine proceeds to step 210, where the clutch oil pressure P
Is set to a predetermined oil pressure P8 according to the throttle opening.
Note that P8 may be set to zero. If the determination in step 208 is "yes", the clutch oil pressure P is set to another oil pressure P9 (> P7) higher than the oil pressure P7 and according to the throttle opening (step 212).
【００１７】したがって四輪操舵を行えない場合には、
わずかなホイールスピンが生じることによって前後輪間
の差動制限を行い、しかもその程度が大きいから、四輪
の全てでより均等に駆動力を受け持つことになり、ホイ
ールスピンを迅速に解消するとともに車両の安定性を確
保することができる。Therefore, when four-wheel steering cannot be performed,
Slight wheel spin between front and rear wheels
And the degree of the difference is large, the driving force is evenly distributed to all four wheels, so that wheel spin can be eliminated quickly and the stability of the vehicle can be ensured.
【００１８】なお、ホイールスピンの有無に基づいた差
動制限制御を行う場合、前後輪の回転数差の判断基準値
ΔＮ1 ，ΔＮ2 のみを四輪操舵装置のフェールの有無に
基づいて変え、差動制限のための油圧は予め定めた油圧
を採用してもよく、またこれとは反対に前後輪の回転数
差の判断基準値は予め定めた一定値を採用し、四輪操舵
装置のフェールの有無によって差動制限油圧を変えるこ
ととしてもよい。When the differential limiting control based on the presence or absence of the wheel spin is performed, only the criterion values ΔN1 and ΔN2 for determining the rotational speed difference between the front and rear wheels are changed based on the presence or absence of the failure of the four-wheel steering system. The hydraulic pressure for the restriction may be a predetermined hydraulic pressure.On the contrary, the reference value for determining the rotational speed difference between the front and rear wheels is a predetermined constant value, and the failure of the four-wheel steering system The differential limiting hydraulic pressure may be changed depending on the presence or absence.
【００１９】またこの発明では、図４に示す高速走行時
の安定化制御と図５に示すホイールスピンに基づく安定
化制御とは個別に行わずに、これらの制御を並行して行
ってもよい。さらに前輪を操舵した場合に、目標ヨーレ
ートを算出し、その目標ヨーレートとなるよう前後輪の
トルク分配率を制御する四輪駆動装置が知られている
が、ヨーレートは前後輪のコーナリングパワーをパラメ
ータとして含むスタビリティファクタを使って求めるの
で、この種の装置では、そのスタビリティファクタが、
より安定側となるコーナリングパワーとするべく前後輪
間の差動制限を行ってもよい。Further, in the present invention, the stabilization control at the time of high-speed running shown in FIG. 4 and the stabilization control based on the wheel spin shown in FIG. 5 may not be separately performed, but may be performed in parallel. . Further, when the front wheels are steered, a four-wheel drive device that calculates a target yaw rate and controls the torque distribution ratio of the front and rear wheels so as to reach the target yaw rate is known, but the yaw rate is determined by using the cornering power of the front and rear wheels as a parameter. Since the stability factor is calculated using the stability factor, the stability factor is
Front and rear wheels for more stable cornering power
Differential restriction between them may be performed.
【００２０】[0020]
【発明の効果】以上説明したようにこの発明の四輪駆動
制御装置によれば、四輪操舵を行えない事態が生じる
と、前後輪差動制限を強めて所謂直結四駆の状態に近づ
けるから、四輪操舵できないことに伴う車両の不安定要
因を四輪駆動装置で補完して車両の安定性を確保するこ
とができる。As described above, according to the four-wheel drive control apparatus of the present invention, when a situation in which four-wheel steering cannot be performed occurs, the differential between the front and rear wheels is strengthened to approach a so-called direct-coupled four-wheel drive state. In addition, the instability factor of the vehicle due to the inability to perform four-wheel steering can be complemented by the four-wheel drive device to ensure the stability of the vehicle.
【図１】この発明の構成を原理的に示すブロック図であ
る。FIG. 1 is a block diagram showing the configuration of the present invention in principle.
【図２】この発明の一実施例を模式的に示すブロック図
である。FIG. 2 is a block diagram schematically showing one embodiment of the present invention.
【図３】この発明の装置による基本的な制御ルーチンを
説明するためのフローチャートである。FIG. 3 is a flowchart for explaining a basic control routine by the device of the present invention.
【図４】高速走行時に四輪操舵装置がフェールした場合
の四輪駆動装置の特定制御のルーチンを説明するための
フローチャートである。FIG. 4 is a flowchart for explaining a routine for specific control of the four-wheel drive system when the four-wheel steering system fails during high-speed running.
【図５】四輪操舵装置のフェール状態でホイールスピン
が生じた場合の四輪駆動装置の特定制御のルーチンを説
明するためのフローチャートである。FIG. 5 is a flowchart for explaining a routine of specific control of the four-wheel drive device when a wheel spin occurs in a failure state of the four-wheel steering device.
１ 前輪 ２ 後輪 ３ 四輪操舵装置 ６ 四輪駆動装置 ７ 四輪操舵不可検出手段 ８ 差動制限手段 REFERENCE SIGNS LIST 1 front wheel 2 rear wheel 3 four-wheel steering device 6 four-wheel drive device 7 four-wheel steering impossible detection means 8 differential limiting means
Claims (1)
輪を操舵する四輪操舵装置と、これら前輪駆動系と後輪
駆動系とに駆動力を分配して与えるとともにその分配率
を変えることのできる四輪駆動装置とを備えた四輪操舵
車両の四輪駆動制御装置において、 前記四輪操舵装置による四輪操舵が不能になったことを
検出する四輪操舵不可検出手段と、四輪操舵の不能が検
出された場合に、前後輪へのトルク分配率を四輪操舵が
可能な場合よりも均等に近づける前後輪間の差動制限を
行う差動制限手段とを具備していることを特徴とする四
輪操舵車両の四輪駆動制御装置。1. A four-wheel steering device for steering a front wheel or steering a rear wheel according to a vehicle state, distributing and applying a driving force to the front wheel drive system and the rear wheel drive system, and changing a distribution ratio thereof. A four-wheel drive control device for a four-wheel steering vehicle, comprising: a four-wheel drive device capable of performing four-wheel steering; a four-wheel steering disabled detection unit that detects that four-wheel steering by the four-wheel steering device is disabled; When steering impairment is detected , limit the differential between the front and rear wheels so that the torque distribution ratio to the front and rear wheels is closer to that than when four-wheel steering is possible.
Four-wheel drive control apparatus for a four-wheel steering vehicle, characterized in that it comprises a differential limiting means for performing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP12500791A JP2783298B2 (en) | 1991-04-26 | 1991-04-26 | Four-wheel drive control device for four-wheel steering vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP12500791A JP2783298B2 (en) | 1991-04-26 | 1991-04-26 | Four-wheel drive control device for four-wheel steering vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH04328074A JPH04328074A (en) | 1992-11-17 |
| JP2783298B2 true JP2783298B2 (en) | 1998-08-06 |
Family
ID=14899562
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP12500791A Expired - Fee Related JP2783298B2 (en) | 1991-04-26 | 1991-04-26 | Four-wheel drive control device for four-wheel steering vehicle |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2783298B2 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110001391B (en) * | 2019-04-26 | 2024-04-02 | 大连聪迅网络科技有限公司 | Multi-wheel differential system |
-
1991
- 1991-04-26 JP JP12500791A patent/JP2783298B2/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| JPH04328074A (en) | 1992-11-17 |
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| Date | Code | Title | Description |
|---|---|---|---|
| LAPS | Cancellation because of no payment of annual fees |