JPH01186474A - Four-wheel steering system - Google Patents

Four-wheel steering system

Info

Publication number
JPH01186474A
JPH01186474A JP63008536A JP853688A JPH01186474A JP H01186474 A JPH01186474 A JP H01186474A JP 63008536 A JP63008536 A JP 63008536A JP 853688 A JP853688 A JP 853688A JP H01186474 A JPH01186474 A JP H01186474A
Authority
JP
Japan
Prior art keywords
rear wheel
wheel steering
motor
steering
steering angle
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.)
Pending
Application number
JP63008536A
Other languages
Japanese (ja)
Inventor
Hideo Yabe
矢部　英男
Hideo Hori
堀　英雄
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Jidosha Kiki Co Ltd
Original Assignee
Jidosha Kiki Co Ltd
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 Jidosha Kiki Co Ltd filed Critical Jidosha Kiki Co Ltd
Priority to JP63008536A priority Critical patent/JPH01186474A/en
Publication of JPH01186474A publication Critical patent/JPH01186474A/en
Pending legal-status Critical Current

Links

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
    • B62D7/15—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
    • B62D7/1581—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 comprising an electrical interconnecting system between the steering control means of the different axles
    • 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

Landscapes

  • 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

PURPOSE:To improve the reliability in trouble by suspending the electric conduction for a rear wheel steering motor when the difference between an aimed rear wheel position and the position at present does not converge within a prescribed value in a prescribed time, in the constitution in which the rear wheels are electrically steered on the basis of the steering wheel angle and the car speed. CONSTITUTION:The output signals (b) and (c) of the steering angle sensors 1a and 2a installed onto a front wheel steering device 1 and an electric type rear wheel steering device 2 using a DC motor 2a as power source are inputted into a controller 4, together with a car speed signal (a) and an engine signal (d). The rear wheel steering angle value is calculated on the basis of the front wheel steering angle, car speed, etc., and the DC motor 2a is controlled. In such a four-wheel steering system, the difference between an aimed rear wheel position and the rear wheel position at present is obtained, and it is judged if the difference is converged within a prescribed value in a prescribed time or not. If the judgement is 'NO', a relay 4 is deenergized, and the electric conduction for the DC motor 2a is suspended, and the rear wheel steering device 2 is returned to a neutral position by the action of a centering spring 2d.

Description

【発明の詳細な説明】 〔産業上の利用分野〕 本発明はハンドル角度と車速を基に後輪を電気的に操向
させる４輪操舵システムに関し、特に、モータに対する
回転指示方向と後輪の転舵量・転舵方向を監視し、一定
時間内に収束しない場合にフェールとみなして２ＷＳ化
する４輪操舵システムに関するものである。DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a four-wheel steering system that electrically steers the rear wheels based on the steering wheel angle and vehicle speed, and in particular, the present invention relates to a four-wheel steering system that electrically steers the rear wheels based on the steering wheel angle and vehicle speed. This relates to a four-wheel steering system that monitors the amount and direction of steering, and if they do not converge within a certain period of time, it is considered a failure and becomes 2WS.

〔従来の技術〕[Conventional technology]

従来の４輪操舵システムにおいては、ハンドル角度およ
び車速に対応する後輪位置の目標値の算出を行ない、そ
の目標値に対し直流モータを駆動することにより後輪の
操舵を行なっている。In a conventional four-wheel steering system, a target value for the rear wheel position corresponding to the steering wheel angle and vehicle speed is calculated, and the rear wheels are steered by driving a DC motor to the target value.

〔発明が解決しようとする課題〕[Problem to be solved by the invention]

しかしながら、従来の４輪操舵システムにおいては、ア
クチュエータ、駆動回路、後輪センサのいずれかが故障
した時でも、モータは目標値に対し駆動され続けること
になり、後輪が制御に反する挙動をするおそれがあった
。However, in conventional four-wheel steering systems, even if the actuator, drive circuit, or rear wheel sensor fails, the motor continues to be driven to the target value, causing the rear wheels to behave contrary to control. There was a risk.

〔課題を解決するための手段〕[Means to solve the problem]

このような課題を解決するために本発明による４輪操舵
システムは、目標後輪位置と現後輪位置との偏差が規定
時間内に規定値内に収束しない場合に後輪操舵用モータ
への電力供給を停止するエラー処理手段を有するコント
ロニラを設けるようにしたものである。In order to solve such problems, the four-wheel steering system according to the present invention controls the motor for rear wheel steering when the deviation between the target rear wheel position and the current rear wheel position does not converge within a specified value within a specified time. The controller is provided with an error processing means for stopping power supply.

〔作用〕[Effect]

本発明による４輪操舵システムにおいては、目標後輪位
置と現後輪位置との偏差が規定時間内に規定値内に収束
しない場合にはエラー処理手段はエラー信号を発生する
。In the four-wheel steering system according to the present invention, if the deviation between the target rear wheel position and the current rear wheel position does not converge within a prescribed value within a prescribed time, the error processing means generates an error signal.

〔実施例〕〔Example〕

第２図は一般的４輪操舵システムを示す構成図であり、
同図において、１は前輪操舵装置、１ａは操舵角センサ
、２は電気式後輪操舵装置、２ａは後輪操舵用直流モー
タ、２ｂは減速ギア、２Ｃ番ｉ操舵角センサ、２ｄはセ
ンタリングスプリング、３は車速信号ａ・前舵角信号ｂ
・後舵角信号Ｃ・エンジン信号ｄ等が入力されるコント
ローラ、４はモータ２ａへの電力供給用リレーである。FIG. 2 is a configuration diagram showing a general four-wheel steering system.
In the figure, 1 is a front wheel steering device, 1a is a steering angle sensor, 2 is an electric rear wheel steering device, 2a is a DC motor for rear wheel steering, 2b is a reduction gear, 2C No. i steering angle sensor, 2d is a centering spring , 3 is vehicle speed signal a and front steering angle signal b
- A controller into which the rear steering angle signal C, engine signal d, etc. are input, and 4 is a relay for supplying power to the motor 2a.

第１図は、本発明に係わる４輪操舵システムの一実施例
を構成するコントローラ３を詳細に示す系統図である。FIG. 1 is a system diagram showing in detail a controller 3 constituting an embodiment of a four-wheel steering system according to the present invention.

同図において、５はＣＰＵ、６は異常表示ランプ、７は
車速センサ、８は前舵角センサ、９は後舵角センサ、３
ａは車速信号ａ・前舵角信号ｂ・後舵角信号Ｃ・エンジ
ン信号ｄが入力されるフィルタ、３ｂは１２Ｖの電源電
圧Ｖが入力される電源、５１は目標後輪位置と現後輪位
置との偏差が規定時間内に規定偏差内に収束しない場合
にエラー信号ｅを出力する収束監視部、５２は初期診断
及びフェールソフト部、５３はリレー駆動部であり、収
束監視部５１とリレー駆動部５２はエラー処理手段を構
成する。また、第１図において第２図と同一部分又は相
当部分には同一符号が付しである。In the figure, 5 is a CPU, 6 is an abnormality display lamp, 7 is a vehicle speed sensor, 8 is a front steering angle sensor, 9 is a rear steering angle sensor, 3
a is a filter to which vehicle speed signal a, front steering angle signal b, rear steering angle signal C, and engine signal d are input; 3b is a power source to which 12V power supply voltage V is input; 51 is a target rear wheel position and current rear wheel A convergence monitoring unit outputs an error signal e when the deviation from the position does not converge within a specified deviation within a specified time, 52 is an initial diagnosis and fail software unit, 53 is a relay drive unit, which connects the convergence monitoring unit 51 and the relay. The drive section 52 constitutes an error processing means. Further, in FIG. 1, the same or corresponding parts as in FIG. 2 are given the same reference numerals.

次に、本発明に係わる４輪操舵システムの一実施例の動
作を第１図を用いて説明する。ＣＰＵ５においては成る
規定時間を設定し、後輪操舵用直流モータ２ａへの駆動
信号を出力後、上記規定時間を経過しても後輪が目標値
方向に収束しない時は、収束監視部５１はエラー信号ｅ
を初期診断及びフェールソフト部５２に出力し、初期診
断及びフェールソフト部５２はリレー駆動部５３を制御
してリレー４をオフとする。これにより、モータ２ａへ
の電力供給は停止され°、後輪はセンタリングスプリン
グ２ｄ（第２図参照）により中立に戻され、２ＷＳとな
る。また、初期診断及びフェールソフト部５２は上記異
常を異常表示ランプ６によりドライバに知らせる。Next, the operation of one embodiment of the four-wheel steering system according to the present invention will be explained using FIG. After the CPU 5 sets a specified time and outputs a drive signal to the rear wheel steering DC motor 2a, if the rear wheels do not converge in the direction of the target value even after the specified time elapses, the convergence monitoring section 51 error signal e
is output to the initial diagnosis and fail software section 52, and the initial diagnosis and fail software section 52 controls the relay drive section 53 to turn off the relay 4. As a result, the power supply to the motor 2a is stopped, and the rear wheel is returned to neutral by the centering spring 2d (see FIG. 2), becoming 2WS. Further, the initial diagnosis and fail software unit 52 notifies the driver of the above-mentioned abnormality using the abnormality display lamp 6.

次に、第１図のコントローラ３の動作を更に詳細に第３
図および第４図のフローチャートを用いて説明する。第
３図はシステム電源投入時の収束監視部５１の動作を説
明するためのフローチャートであり、第４図はシステム
作動時の収束監視部５１の動作を説明するためのフロー
チャートである。Next, the operation of the controller 3 in FIG. 1 will be explained in more detail in the third section.
This will be explained using the diagram and the flowchart in FIG. FIG. 3 is a flowchart for explaining the operation of the convergence monitoring section 51 when the system power is turned on, and FIG. 4 is a flowchart for explaining the operation of the convergence monitoring section 51 when the system is activated.

第３図において、まず初期設定を行ない（ステップ１１
）、後輪位置の目標値を現後輪位置土右１度に設定する
（ステップ１２）。次に、コントローラ３は後輪を右の
位置に回すようにモータ２ａを駆動しくステップ１３）
、続いて現後輪位置が目標値に一致しているか否かを判
定する（ステップ１４）。一致していればステップ１７
へ移行゛　　する。ステ・・プ１５では規定時間経過し
ているか否かを判断し、現後輪位置が目標値に一致せず
且つ規定時間経過している場合はエラー処理を行なう（
ステップ１６）。ステップ１４で現後輪位置が目標値に
一致している場合はステップ１゛７へ移行して、今度は
後輪位置の目標値を現後輪位置十左１度にし、現後輪位
置＋右１度と同様の点検動作を行なう（ステップ１フ〜
ステツプ２１）。規定時間内に収束した場合は主制御へ
移行する（ステップ１９．ステップ２２）。In Fig. 3, initial settings are first performed (step 11).
), the target value of the rear wheel position is set to 1 degree to the right of the current rear wheel position (step 12). Next, the controller 3 drives the motor 2a to rotate the rear wheel to the right position (step 13).
Then, it is determined whether the current rear wheel position matches the target value (step 14). If they match, step 17
Move to. In step 15, it is determined whether or not a specified time has elapsed, and if the current rear wheel position does not match the target value and the specified time has elapsed, error processing is performed (
Step 16). If the current rear wheel position matches the target value in step 14, the process moves to step 1-7, and this time the target value of the rear wheel position is set to the current rear wheel position +1 degree to the left, and the current rear wheel position + Perform the same inspection operation as the one on the right (step 1~
Step 21). If it converges within the specified time, the process shifts to main control (step 19. step 22).

次に、システム作動時の収束性チエツクの動作について
第４図を用いて説明する。まず、車速に応じた舵角比お
よびハンドル切れ角×舵角比に応じた新目標値（後輪位
置の新目標値）を設定しくステップ３１）、新目標値が
今までの目標値に一致するか否かを判定する（ステップ
３２）。全く新しく目標値を設定した場合は当然一致せ
ず、従ってステップ３７へ移行する。ステップ３７では
タイマをクリアし、目標値を新目標値に変更し、次に、
新目標値に応じてモータを駆動する（ステップ３８）。Next, the operation of the convergence check when the system is activated will be explained using FIG. First, set a new target value (new target value for rear wheel position) according to the steering angle ratio according to the vehicle speed and the steering angle x steering angle ratio (Step 31), and the new target value matches the previous target value. It is determined whether or not to do so (step 32). If a completely new target value is set, naturally they will not match, and therefore the process moves to step 37. Step 37 clears the timer, changes the target value to the new target value, and then
The motor is driven according to the new target value (step 38).

ステップ３２で一致した場合はステップ３３へ移行して
、新目標値と現後輪位置との偏差が規定偏差以内である
か否かを判定し、規定偏差以内の場合はステップ３７．
３８へ移行して上記と同様の動作を行なう。規定偏差以
内でない場合はステップ３４へ移行し、タイマが規定時
間を越えているか否かを判定し、規定時間を越えていな
ければステップ３８の動作を行ない、規定時間を越えて
いる場合はモータ２ａをオフとしてエラー処理を行なう
　（ステップ３５．３６）。If they match in step 32, the process moves to step 33, where it is determined whether the deviation between the new target value and the current rear wheel position is within a specified deviation, and if it is within the specified deviation, step 37.
The process moves to step 38 and the same operation as above is performed. If the deviation is not within the specified deviation, the process moves to step 34, and it is determined whether the timer has exceeded the specified time. If the specified time has not been exceeded, the operation of step 38 is performed, and if the specified time has been exceeded, the motor 2a Error processing is performed by turning off (steps 35 and 36).

〔発明の効果〕〔Effect of the invention〕

以上説明したように本発明による４輪操舵システムは、
後輪位置の目標値と現後輪位置との偏差が規定時間内に
規定値内に収束しない場合に後輪操舵用モータへの電力
供給を停止するようにしたことにより、アクチュエータ
、駆動回路などの異常時に後輪が勝手な方向に転舵され
るのを防止できる効果がある。As explained above, the four-wheel steering system according to the present invention has the following features:
By stopping power supply to the rear wheel steering motor when the deviation between the target rear wheel position and the current rear wheel position does not converge within a specified value within a specified time, the actuator, drive circuit, etc. This has the effect of preventing the rear wheels from being steered in an arbitrary direction in the event of an abnormality.

【図面の簡単な説明】[Brief explanation of the drawing]

第１図は本発明に係わる４輪操舵システムの一実施例の
コントローラを示す系統図、第２図は一般的４輪操舵シ
ステムを示す構成図、第３図は第１図のコントローラに
よるシステム電源投入時の収束監視部の動作を説明する
ためのフローチャート、第４図は第１図のコントローラ
によるシステム作動時の収束監視部の動作を示すフロー
チャートである。 １・・・前輪操舵装置、１ａ・・・操舵角センサ、２・
・・電気式後輪操舵装置、２ａ・・・後輪操舵用直流モ
ータ、２ｂ・・・減速ギア、２ｃ・・・操舵角センサ、
２ｄ・・・センタリングスプリング、３・・・コントロ
ーラ、４・・・リレー、５・・・ＣＰＵ、６・・・異常
表示ランプ、７・・・車速センサ、８・・・前舵角セン
サ、９・・・後舵角センサ、３ａ・・・フィルタ、３ｂ
・・・電源、５１・・・収束監視部、５２・・・初期診
断及びフェールソフト部、５３・・・リレー駆動部。Fig. 1 is a system diagram showing a controller of an embodiment of a four-wheel steering system according to the present invention, Fig. 2 is a block diagram showing a general four-wheel steering system, and Fig. 3 is a system power supply using the controller shown in Fig. 1. FIG. 4 is a flowchart for explaining the operation of the convergence monitoring section when the system is turned on. FIG. 4 is a flowchart showing the operation of the convergence monitoring section when the system is operated by the controller of FIG. 1... Front wheel steering device, 1a... Steering angle sensor, 2...
...Electric rear wheel steering device, 2a... DC motor for rear wheel steering, 2b... Reduction gear, 2c... Steering angle sensor,
2d... Centering spring, 3... Controller, 4... Relay, 5... CPU, 6... Abnormality display lamp, 7... Vehicle speed sensor, 8... Front steering angle sensor, 9 ... Rear steering angle sensor, 3a... Filter, 3b
... Power supply, 51... Convergence monitoring section, 52... Initial diagnosis and fail software section, 53... Relay drive section.

Claims (1)

【特許請求の範囲】[Claims] ハンドル角度と車速を基に後輪を電気的に操向させる４
輪操舵システムにおいて、目標後輪位置と現後輪位置と
の偏差が規定時間内に規定値内に収束しない場合に後輪
操舵用モータへの電力供給を停止するエラー処理手段を
有するコントローラを備えたことを特徴とする４輪操舵
システム。Electrically steers the rear wheels based on steering wheel angle and vehicle speed 4
In the wheel steering system, the controller includes an error processing means for stopping power supply to the rear wheel steering motor when the deviation between the target rear wheel position and the current rear wheel position does not converge within a specified value within a specified time. A four-wheel steering system that features:
JP63008536A 1988-01-20 1988-01-20 Four-wheel steering system Pending JPH01186474A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP63008536A JPH01186474A (en) 1988-01-20 1988-01-20 Four-wheel steering system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP63008536A JPH01186474A (en) 1988-01-20 1988-01-20 Four-wheel steering system

Publications (1)

Publication Number Publication Date
JPH01186474A true JPH01186474A (en) 1989-07-25

Family

ID=11695874

Family Applications (1)

Application Number Title Priority Date Filing Date
JP63008536A Pending JPH01186474A (en) 1988-01-20 1988-01-20 Four-wheel steering system

Country Status (1)

Country Link
JP (1) JPH01186474A (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5429290B2 (en) * 2009-09-11 2014-02-26 トヨタ自動車株式会社 Control device for rear wheel steering device
WO2020170579A1 (en) * 2019-02-18 2020-08-27 クノールブレムゼステアリングシステムジャパン株式会社 Steering device

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5429290B2 (en) * 2009-09-11 2014-02-26 トヨタ自動車株式会社 Control device for rear wheel steering device
DE112009005225B4 (en) * 2009-09-11 2018-03-08 Toyota Jidosha Kabushiki Kaisha Control device for controlling a rear wheel steering device
WO2020170579A1 (en) * 2019-02-18 2020-08-27 クノールブレムゼステアリングシステムジャパン株式会社 Steering device
CN113453972A (en) * 2019-02-18 2021-09-28 克诺尔转向***日本有限公司 Steering device
JPWO2020170579A1 (en) * 2019-02-18 2021-12-16 クノールブレムゼステアリングシステムジャパン株式会社 Steering device
CN113453972B (en) * 2019-02-18 2023-12-22 克诺尔转向***日本有限公司 Steering device

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