JP5325708B2 - 車両の後輪操舵制御装置 - Google Patents
車両の後輪操舵制御装置 Download PDFInfo
- Publication number
- JP5325708B2 JP5325708B2 JP2009190213A JP2009190213A JP5325708B2 JP 5325708 B2 JP5325708 B2 JP 5325708B2 JP 2009190213 A JP2009190213 A JP 2009190213A JP 2009190213 A JP2009190213 A JP 2009190213A JP 5325708 B2 JP5325708 B2 JP 5325708B2
- Authority
- JP
- Japan
- Prior art keywords
- toe angle
- deviation
- vehicle
- rear wheel
- current value
- 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
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
- B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
- B62D7/148—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering provided with safety devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
- B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
- B62D7/15—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels
- B62D7/159—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels characterised by computing methods or stabilisation processes or systems, e.g. responding to yaw rate, lateral wind, load, road condition
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Theoretical Computer Science (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
- Power Steering Mechanism (AREA)
Description
1 車体
3 前輪
5 後輪
10 後輪トー角制御装置
11 アクチュエータ
12 ECU
16 横加速度センサ
17 トー角センサ
119 指示トー角設定部
120 リセット制御器
121 第1リセット部
122 第2リセット部
123 第3リセット部
124 積分器
125 FB制御器
Claims (3)
- 車両の左右後輪の指示トー角を所定周期で設定する指示トー角設定手段と、前記車両の実トー角を所定周期で検出するトー角センサとを備え、前記指示トー角と検出された実トー角との偏差に基づき操作量を算出し、当該操作量に前記偏差を積分した積分量を加えた操作量に基づいて車両の左右後輪に設けられたアクチュエータを作動させることによってトー角を変化させる後輪操舵制御装置であって、
検出された前記実トー角の今回値と、この今回値の一周期前に検出された前回値との差が前記アクチュエータの作動時の静止摩擦から動摩擦への変化を判定する所定のしきい値以上であるときには、前記積分量を減少あるいはゼロにする指令を行うリセット指令手段を備えることを特徴とする後輪操舵制御装置。 - 前記リセット指令手段は、更に、検出された前記偏差の今回値の正負符号と、この今回値の一周期前に検出された前回値の正負符号とが異なるときには、前記積分量を減少あるいはゼロにする指令を行うことを特徴とする請求項1に記載の後輪操舵制御装置。
- 前記リセット指令手段は、更に、設定された前記指示トー角の今回値と、この今回値の一周期前に検出された前回値との差が所定のしきい値以上であるときには、前記積分量を減少あるいはゼロにする指令を行うことを特徴とする請求項1または請求項2に記載の後輪操舵制御装置。
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2009190213A JP5325708B2 (ja) | 2009-03-30 | 2009-08-19 | 車両の後輪操舵制御装置 |
EP20100157934 EP2236394B1 (en) | 2009-03-30 | 2010-03-26 | Rear wheel steering control system |
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2009081689 | 2009-03-30 | ||
JP2009081689 | 2009-03-30 | ||
JP2009190213A JP5325708B2 (ja) | 2009-03-30 | 2009-08-19 | 車両の後輪操舵制御装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2010254272A JP2010254272A (ja) | 2010-11-11 |
JP5325708B2 true JP5325708B2 (ja) | 2013-10-23 |
Family
ID=42111856
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2009190213A Expired - Fee Related JP5325708B2 (ja) | 2009-03-30 | 2009-08-19 | 車両の後輪操舵制御装置 |
Country Status (2)
Country | Link |
---|---|
EP (1) | EP2236394B1 (ja) |
JP (1) | JP5325708B2 (ja) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP5977505B2 (ja) * | 2011-11-29 | 2016-08-24 | Kyb株式会社 | 操舵制御装置 |
JP7480509B2 (ja) * | 2020-01-13 | 2024-05-10 | 株式会社デンソー | 操舵制御装置、操舵制御方法、操舵制御プログラム |
Family Cites Families (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH01237265A (ja) * | 1988-03-17 | 1989-09-21 | Honda Motor Co Ltd | 前後輪操舵車両 |
EP0470630B1 (en) * | 1990-08-10 | 1996-02-07 | Matsushita Electric Industrial Co., Ltd. | Controlling apparatus of steering angle of rear wheels of four-wheel steering vehicle |
JP3098124B2 (ja) | 1992-11-05 | 2000-10-16 | 本田技研工業株式会社 | 後輪転舵装置の制御方法 |
JPH06179375A (ja) * | 1992-12-16 | 1994-06-28 | Nissan Motor Co Ltd | 車両の舵角制御装置 |
JP2001341662A (ja) * | 2000-06-05 | 2001-12-11 | Honda Motor Co Ltd | 後輪操舵装置 |
JP3556182B2 (ja) * | 2001-04-26 | 2004-08-18 | 本田技研工業株式会社 | 電動パワーステアリング装置 |
JP2005170257A (ja) * | 2003-12-11 | 2005-06-30 | Showa Corp | 電動パワーステアリング装置 |
JP2006062515A (ja) * | 2004-08-26 | 2006-03-09 | Favess Co Ltd | 昇圧装置及び電動パワーステアリング装置 |
JP4200986B2 (ja) * | 2005-06-27 | 2008-12-24 | トヨタ自動車株式会社 | サーボ制御装置 |
JP2007125959A (ja) * | 2005-11-02 | 2007-05-24 | Nissan Motor Co Ltd | 車両用操舵装置 |
JP4940720B2 (ja) * | 2006-03-22 | 2012-05-30 | 株式会社豊田中央研究所 | 路面反力推定装置 |
-
2009
- 2009-08-19 JP JP2009190213A patent/JP5325708B2/ja not_active Expired - Fee Related
-
2010
- 2010-03-26 EP EP20100157934 patent/EP2236394B1/en not_active Not-in-force
Also Published As
Publication number | Publication date |
---|---|
JP2010254272A (ja) | 2010-11-11 |
EP2236394B1 (en) | 2013-03-20 |
EP2236394A1 (en) | 2010-10-06 |
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