JPH01212668A - Rear wheel steering device for four-wheel steering vehicle - Google Patents
Rear wheel steering device for four-wheel steering vehicleInfo
- Publication number
- JPH01212668A JPH01212668A JP63034024A JP3402488A JPH01212668A JP H01212668 A JPH01212668 A JP H01212668A JP 63034024 A JP63034024 A JP 63034024A JP 3402488 A JP3402488 A JP 3402488A JP H01212668 A JPH01212668 A JP H01212668A
- Authority
- JP
- Japan
- Prior art keywords
- motor
- circuit
- wheel steering
- rear wheels
- steering device
- 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
Links
- 230000007935 neutral effect Effects 0.000 abstract description 11
- 239000003638 chemical reducing agent Substances 0.000 abstract description 2
- 230000009471 action Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000007257 malfunction Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
Landscapes
- Power Steering Mechanism (AREA)
- Stopping Of Electric Motors (AREA)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
Abstract
Description
【発明の詳細な説明】
〔産業上の利用分野〕
本発明は、舵取り操作に応じて後輪を前輪と共に転舵さ
せる四輪操舵車における後輪転舵装置の改良に関する。DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to an improvement of a rear wheel steering device for a four-wheel steered vehicle that steers the rear wheels together with the front wheels in response to a steering operation.
たとえば低速走行時に前、後輪の転舵方向を逆位相とし
車輌の旋回半径を小さくして小回り性能を向上させたり
、高速走行時に前、後輪の転舵方向を同位相とし車輌の
走行安定性を向上させるようにした四輪操舵車が注目さ
れている。このような四輪操舵車における後輪転舵装置
としては、たとえば特開昭５１１−２８３１１４号公報
等に示される機械式によるもの、特開昭５９−８１２１
１１号公報等に示される油圧式によるもの、さらに特開
昭８１−２０２９７７号公報等に示される電気式による
もの等、従来から種々の構成を有するものが提案されて
いる。すなわち、前輪側での転舵角に応じて後輪側を転
舵させるために、前、後輪側を転舵力伝達ロッド等で機
械的に連結したり、前輪側での転舵角を検出しこれによ
る油圧または電気信号で後輪側の油圧式動力舵取装置を
駆動したり、あるいは前輪側での転舵角を電気信号とし
て後輪側の電動式動力舵取装置の電動モータに伝達した
りする構成とされている。そして、これらの構成による
装置において、特に後輪を電動式動力舵取装置で転舵制
御する電気式のものは、その駆動源である電動モータを
、車速や前輪操舵角等を始めとする各種の走行条件など
に応じて後輪を適切かつ確実に転舵制御し得るとともに
、装置構成が簡単でかつ小型に構成でき、他の形式のよ
うな連結ロッドや油圧配管等が不要でその取付けＥでの
自由度が大きくすることができ、しかもコスト的にも優
れている等の利点をもつものであった。For example, when driving at low speeds, the steering directions of the front and rear wheels are set in opposite phases to reduce the turning radius of the vehicle to improve tight turning performance, or when driving at high speeds, the steering directions of the front and rear wheels are set in the same phase to stabilize the vehicle's running. Four-wheel steering vehicles with improved performance are attracting attention. As a rear wheel steering device for such a four-wheel steering vehicle, for example, a mechanical type is disclosed in Japanese Patent Application Laid-Open No. 511-283114, etc.
Various configurations have been proposed in the past, such as a hydraulic type as shown in Japanese Patent Laid-Open No. 81-202977, and an electric type as shown in Japanese Patent Application Laid-Open No. 81-202977. In other words, in order to steer the rear wheels according to the steering angle of the front wheels, the front and rear wheels may be mechanically connected using a steering force transmission rod or the like, or the steering angle of the front wheels may be adjusted. The detected hydraulic or electric signal can be used to drive the rear wheel hydraulic power steering device, or the front wheel steering angle can be used as an electric signal to drive the electric motor of the rear wheel electric power steering device. It is said to be configured to communicate. Among devices with these configurations, especially electric ones that control the steering of the rear wheels using an electric power steering device, the electric motor that is the drive source is controlled by various factors such as vehicle speed and front wheel steering angle. The rear wheels can be controlled appropriately and reliably depending on the driving conditions, etc., and the device configuration is simple and compact, and there is no need for connecting rods or hydraulic piping as with other types, making it easy to install. It has the advantages of being able to increase the degree of freedom in the process and being cost effective.
ところで、このような利点を有する電気式の後輪転舵装
置において、たとえばモータへの通電制御回路や各種検
出センサおよびその信号系等と始めとする装置各部で故
障や誤動作が生じたときには、そのフェイルセーフとし
て電気制御信号等を全てオフ信号とし後輪転舵系全体を
中立位置に復帰させ後輪を不転舵状態に制御し、前輪の
みの二輪操舵とすることが一般に考えられているが、こ
の場合に若干の問題を生じている。By the way, in an electric rear wheel steering device that has such advantages, if a failure or malfunction occurs in any part of the device, such as the energization control circuit for the motor, various detection sensors, and their signal systems, etc., the failure will occur. It is generally considered safe to turn off all electrical control signals, return the entire rear wheel steering system to the neutral position, control the rear wheels so that they are not steered, and perform two-wheel steering using only the front wheels. There are some problems in some cases.
すなわち、上述したような故障等によるフェイル時には
、後輪を転舵させる電動式動力舵取装置を構成する電動
モータに対しての通電もオフとされ、後輪が転舵されて
いる場合にはセンタリングスプリングの付勢力等で後輪
を中立位置に復帰するように動作させる。そして、後輪
の転舵角が小さいとそれ程でもないが、接地面からの復
元力が大きな領域つまり後輪転舵角の大きい領域では、
中立位置への戻り力が大きくなり、非常に急激な変化と
なり、これが甚だしい場合にはスピン等といった車輌走
行上の安全性の面から好ましくない挙動を招く虞れがあ
った。このため、ｖｋ輪側の舵取リンク機構の一部に油
圧ダンパや空気圧ダンパ等を設け、上述した急激な後輪
の復帰動作を防止することが考えられている。しかしな
がら、このような特別な機構を付設することは、電気式
後輪転舵装置を用いることによる特徴、たとえば装置全
体が小型で取付けとでの自由度が大きい等といった利点
を損なう結果となり、しかも構造が複雑化し、コスト高
を招く等といった実用面からの問題もあり、このような
問題点を一掃し得る何らかの対策を講じることが必要と
されている。In other words, in the event of a failure due to the above-mentioned malfunction, etc., the electric motor that constitutes the electric power steering device that steers the rear wheels is also turned off, and if the rear wheels are being steered, the power is turned off. The rear wheels are operated to return to the neutral position by the biasing force of a centering spring, etc. Although it is not so much when the rear wheel steering angle is small, in the region where the restoring force from the ground contact is large, that is, the region where the rear wheel steering angle is large,
The return force to the neutral position becomes large, resulting in a very sudden change, and if this is severe, there is a risk that unfavorable behavior from the viewpoint of vehicle running safety, such as spin, may occur. For this reason, it has been considered to provide a hydraulic damper, a pneumatic damper, or the like in a part of the steering link mechanism on the VK wheel side to prevent the sudden return movement of the rear wheels described above. However, adding such a special mechanism results in the loss of the advantages of using an electric rear wheel steering device, such as the small size of the device as a whole and a high degree of freedom in installation. There are also practical problems such as complication and increased costs, and it is necessary to take some measures that can eliminate these problems.
このような要請に応えるために本発明に係る四輪操舵車
の後輪転舵装置は、後輪を転舵制御する電動式動力舵取
装置における電動モータへの通電回路を電源オフ信号に
より遮断するとともに。In order to meet such demands, the rear wheel steering device for a four-wheel steering vehicle according to the present invention interrupts the current supply circuit to the electric motor in the electric power steering device that controls the steering of the rear wheels using a power off signal. With.
この電動モータの端子同士を短絡させるモータ短絡制御
回路を設けたものである。A motor short-circuit control circuit is provided to short-circuit the terminals of the electric motor.
（作用〕
本発明によれば、電気制御系の故障等によるフェイル時
において電源オフ＠号で電動モータへの通電回路を遮断
するとともに、そのモータの端子同士を短絡させること
で、直流モータにブレーキ作用を生じさせ、これにより
転舵している後輪を中立位置への復帰させる際にその復
帰動作を緩やかにすることができる。(Function) According to the present invention, in the event of a failure due to a failure of the electrical control system, etc., the energizing circuit to the electric motor is cut off by turning off the power, and the terminals of the motor are short-circuited, thereby applying a brake to the DC motor. As a result, when the steered rear wheels return to the neutral position, the return operation can be made gentler.
以下、本発明を図面に示した実施例を用いて詳細に説明
する。Hereinafter, the present invention will be explained in detail using embodiments shown in the drawings.
第１図は本発明に係る四輪操舵車の後輪転舵装置の一実
施例を示すものであり、同図において符号！、ｌは左、
力対をなす後輪、２はこれら後輪１．１を図示しない前
輪側の操舵角に応じて転舵させるための後輪転舵装置で
、この装置１２はラックピニオン型などによる電動式動
力舵取装置３を備えている。ここで１図中４，４は後輪
ｌ。FIG. 1 shows an embodiment of a rear wheel steering device for a four-wheel steering vehicle according to the present invention, and in the figure, reference numerals ! , l is left,
The rear wheels 2 forming a power pair are a rear wheel steering device for steering these rear wheels 1.1 according to the steering angle of the front wheels (not shown), and this device 12 is an electric power steering device such as a rack and pinion type. It is equipped with a collecting device 3. Here, 4, 4 in Figure 1 is the rear wheel l.
ｌを転舵可能に支持するナックルアームで、ラック５の
両端部に連結されることにより後輪転舵用の舵取リンク
機構が構成されている。また、電動式動力舵取装ａ１３
は、電動モータ６およびその回転力を減速する減速Ｊａ
７とを備え、この減速機７の図示しない出力軸上のビニ
オンが前記ラック５上に形成されたラック歯（−図示せ
ず）に噛合することで、モータ６により後輪１．１が所
要の転舵角で転舵制御されるように構成されている。な
お、８は前記減速機７に付設され後輪側の転舵角を検出
するための後輪転舵角センサ、９は電動式動力舵取装置
３内に付設され後輪１．１を中立位置に付勢するセンタ
リングスプリングである。A knuckle arm that supports the rear wheels in a steerable manner is connected to both ends of the rack 5, thereby forming a steering link mechanism for steering the rear wheels. In addition, electric power steering system A13
is a deceleration Ja that decelerates the electric motor 6 and its rotational force.
7, and the pinion on the output shaft (not shown) of this reducer 7 meshes with the rack teeth (-not shown) formed on the rack 5, so that the rear wheel 1.1 is driven by the motor 6. The steering control is performed at a steering angle of . Note that 8 is a rear wheel steering angle sensor attached to the reduction gear 7 to detect the steering angle of the rear wheels, and 9 is attached to the electric power steering device 3 to move the rear wheels 1.1 to the neutral position. It is a centering spring that biases the
ｌＯは前記電動式動力舵取装置３における駆動源として
のモータ６を駆動制御するためのモータ駆動回路１１（
第２図等参照）を備え、かつ前輪側での操舵角を検出す
る前輪操舵角センサ１２や車速センサ！３等からの各種
走行条件に応じて後輪１．１側が所要の転舵角で転舵さ
れるようにモータ６を通電制御するような構成とされて
いる。なお、１４はバッテリ電源である。lO is a motor drive circuit 11 (
(see Figure 2, etc.), and a front wheel steering angle sensor 12 and a vehicle speed sensor that detect the steering angle on the front wheel side! The configuration is such that the motor 6 is controlled to be energized so that the rear wheel 1.1 side is steered at a required steering angle in accordance with various running conditions from the vehicle. Note that 14 is a battery power source.
さて、本発明によれば、上述したような構成による四輪
操舵車の後輪転舵装置２において、後輪１．１を転舵制
御する電動式動力舵取装置３におけるモータ６への通電
回路を電源オフ信号により遮断するとともに、このモー
タ６の端子同士を短絡させるモータ短絡制御回路１５を
設け、フェイル時において直流モータのブレーキ作用を
巧みに利用することで後輪を転舵状態から中立位置に緩
やかに復帰動作させ得るようにしたところに特徴を有し
ている。Now, according to the present invention, in the rear wheel steering device 2 of a four-wheel steering vehicle configured as described above, the energization circuit for the motor 6 in the electric power steering device 3 that controls the steering of the rear wheels 1.1. A motor short-circuit control circuit 15 is provided to shut off the motor by a power off signal and to short-circuit the terminals of this motor 6. In the event of a failure, the rear wheels are switched from the steered state to the neutral position by skillfully utilizing the braking action of the DC motor. The feature is that it is possible to perform a gradual return operation.
ここで、前記モータ駆動回路１１は、第２図に示される
ように、直流モータ６を左、右両方向に回転制御するた
めに四個のトランジスタ２０ａ。Here, as shown in FIG. 2, the motor drive circuit 11 includes four transistors 20a to control the rotation of the DC motor 6 in both left and right directions.
２０ｂ；２１ａ、２１ａを用いたブリッジ回路で構成さ
れており、いずれか一方のトランジスタ２０ａ、２０ｂ
または２１ａ、２１ｂをオンし、他方をオフすることで
、モータ６に所要の方向への電流が流れ、モータ６が回
転駆動されることは容易に理解されよう。20b; Consists of a bridge circuit using 21a and 21a, and one of the transistors 20a and 20b
Alternatively, it is easily understood that by turning on 21a and 21b and turning off the other, current flows in the desired direction to the motor 6, and the motor 6 is driven to rotate.
このような駆動回路１１において本実施例によれば、そ
の＋側に第１のリレースイッチ２２を設け、電気制御系
等が故障したフェイル時に電源オフ信号によりモータ６
への通電を遮断するように構成するとともに、前記ブリ
ッジ回路内でモータ６の両モータ端子６ａ、６ｂ同士を
短絡させる短絡回路２３を設け、その途中に前記第１の
リレースイッチ２２と同時に作動され電源オフ信号でオ
ンする第２のリレースイッチ２４を設けることで、モー
タ短絡制御回路１５を構成している。According to this embodiment, in such a drive circuit 11, a first relay switch 22 is provided on the + side of the drive circuit 11, and in the event of a failure caused by a failure in the electrical control system, etc., the motor 6 is turned off by a power off signal.
A short-circuit circuit 23 is provided in the bridge circuit to short-circuit both motor terminals 6a and 6b of the motor 6. A motor short-circuit control circuit 15 is configured by providing a second relay switch 24 that is turned on by a power off signal.
そして、このような構成によれば、常時は第１のリレー
スイッチ２２がオンするとともに、モータ駆動回路１１
を構成するトランジスタ２０ａ。According to such a configuration, the first relay switch 22 is always turned on and the motor drive circuit 11 is turned on.
The transistor 20a that constitutes the.
２０ｂまたは２１ａ、２１ｂがオンされることでモータ
６が所要の方向に通電されて後輪転舵制御を行なわれる
。また、電気制御系の故障等によるフェイル時には、電
源オフ信号で第１のリレースイッチ２２がオフされ、モ
ータ６への通電回路が遮断されるとともに、第２のリレ
ースイッチ２４がオンし、モータ端子６ａ、６ｂ同士が
短絡回路２３で短絡されるため、直流モータのブレーキ
作用が生じる結果となるもので、これにより後輪１．１
を転舵状態から中立位置への復帰させる際にその復帰動
作を緩やかにすることができる。When 20b, 21a, and 21b are turned on, the motor 6 is energized in a desired direction to perform rear wheel steering control. In addition, in the event of a failure due to a failure in the electrical control system, the first relay switch 22 is turned off by a power off signal, the energizing circuit to the motor 6 is cut off, and the second relay switch 24 is turned on, causing the motor terminal 6a and 6b are short-circuited by the short circuit 23, resulting in the braking action of the DC motor, which causes the rear wheels 1.1
When returning from the steered state to the neutral position, the return operation can be made gentler.
したがって、このような構成によれば、電動式動力舵取
装置３を備えた後輪転舵装置２において、その駆動用モ
ータ６をフェイルセーフ用としても兼用して利用してい
るものであり、従来のような油圧ダンパ等を特別に用い
る場合に比べ構成が簡単でコスト的に安価であるばかり
でなく、その動作上での信頼性の面でも優れている等の
利点を奏する。特に、この直流モータ６のブレーキ作用
（復元力に対向する力）は、ストローク速度（戻り速度
）に比例して増加するので、後輪１゜１の中立位置への
復帰動作を適切な速度で縛やかに行なわせることができ
るもので、その利点は容易に理解されよう。Therefore, according to such a configuration, in the rear wheel steering device 2 equipped with the electric power steering device 3, the drive motor 6 is also used for fail-safe purposes, which is different from the conventional one. Compared to the case where a hydraulic damper or the like is specially used, it not only has a simpler structure and is cheaper in cost, but also has advantages such as superior operational reliability. In particular, the braking action (force opposing the restoring force) of the DC motor 6 increases in proportion to the stroke speed (return speed), so the return operation of the rear wheel 1°1 to the neutral position is performed at an appropriate speed. It is something that can be done without restrictions, and its advantages are easy to understand.
なお、本発明は上述した実施例構造に限定されず、各部
の形状、構造等を、適宜変形、変更することは自由であ
る。たとえば本発明を特徴づけるモータ短絡制御回路１
５やモータ蹴勅回路１１等としては、上述した実施例構
成に限定されず１種々の変形例が考えられるもので、要
はモータを適宜回転駆動し、後輪を転舵させ得るととも
に。Note that the present invention is not limited to the structure of the embodiment described above, and the shape, structure, etc. of each part may be modified or changed as appropriate. For example, motor short circuit control circuit 1 that characterizes the present invention
5, the motor kick circuit 11, etc., are not limited to the configuration of the above-described embodiment, and various modifications can be considered.In short, the motor can be driven to rotate as appropriate and the rear wheels can be steered.
フェイル時にモータ６の子端子と一端子とを短絡させ得
る構成であればよい、その−例を第４図に示しており、
モータ駆動回路１１においてブリッジ回路で構成される
四個のトランジスタ２０ａ。Any configuration is sufficient as long as it can short-circuit the child terminal of the motor 6 and one terminal in the event of a failure; an example thereof is shown in FIG.
Four transistors 20a constitute a bridge circuit in the motor drive circuit 11.
２０ｂＨ２１ａ、２１ｂにそれぞれ保護用のダイオード
３０が並列接続されている場合には、前述したようなリ
レースイッチ２４を用いずに、モータ６のアース側に位
置するトランジスタ２０ｂ。20bH When protective diodes 30 are connected in parallel to each of 21a and 21b, the transistor 20b is located on the ground side of the motor 6 without using the relay switch 24 as described above.
２１ｂをオンするだけで、モータ６の短絡回路が形成さ
れることは容易に理解されよう。It will be easily understood that simply turning on 21b creates a short circuit for the motor 6.
また、後輪１．１を転舵させる電動式動力舵取装Ｗ１３
としてラックピニオン型のものを用いた場合を説明した
が、本発明はこれに限定されず、適宜の形式による電動
式動力舵取装置を用い、そのモータ制御を前述したよう
に行なうとよいものである。In addition, an electric power steering device W13 that steers the rear wheels 1.1
Although the case where a rack and pinion type device is used has been described, the present invention is not limited to this, and it is preferable to use an electric power steering device of an appropriate type and control the motor as described above. be.
以上説明したように、本発明に係る四輪操舵車の後輪転
舵装置によれば、後輪転舵制御用の電動式動力舵取装置
におけるモータへの通電回路を電源オフ信号により遮断
するとともに、モータ端子同士を短絡させるモータ短絡
制御回路を設けるようにしたので、簡単かつ安価な構成
にもかかわらず、フェール時において短絡されるモータ
によって直流モータのもつブレーキ作用を巧みに利用し
、後輪が転舵状態から中立位置に復帰する際の復帰動作
を緩やかなものとすることができ、これにより余分な機
構部品等を用いることなく。As explained above, according to the rear wheel steering device for a four-wheel steering vehicle according to the present invention, the power supply circuit to the motor in the electric power steering device for rear wheel steering control is interrupted by a power off signal, and A motor short-circuit control circuit is provided to short-circuit the motor terminals, so despite the simple and inexpensive configuration, the short-circuited motor skillfully utilizes the braking action of the DC motor in the event of a failure, allowing the rear wheels to The return operation when returning from the steered state to the neutral position can be made gentle, thereby eliminating the need for extra mechanical parts.
操縦性や走行安全性を確保し得る等といった種々優れた
効果がある。It has various excellent effects such as ensuring maneuverability and driving safety.
第１図は本発明に係る四輪操舵車の後輪転舵装置の一実
施例を示す概略構成図、第２図および第３図はモータ駆
動回路およびモータ短絡制御回路を示す回路図、第４図
はその変形例を示す回路図である。
ｌ・・・・後輪、２・・・・後輪転舵装置、３・・・・
電動式動力舵取装置、６・・・・電動モータ、８・・・
・後輪転舵角センサ、９・・・・センタリングスプリン
グ、ｌＯ・・・・コントローラ、ｌｌ−・・モータ駆動
回路、１２・・・・前輪操舵角センサ、１３・・・・車
速センサ、１５・・・・モータ短絡制御回路、２２・・
・・第１のリレースイッチ、２３・・・・短絡回路、２
４・・・・第２のリレースイッチ、３０・・・・トラン
ジスタ保護用ダイオード。
特許出願人 自動車機器株式会社
代 理 人 山川政樹（ほか２名）手続補正書（
自船
牡６賑８臂７８FIG. 1 is a schematic configuration diagram showing one embodiment of a rear wheel steering device for a four-wheel steering vehicle according to the present invention, FIGS. 2 and 3 are circuit diagrams showing a motor drive circuit and a motor short-circuit control circuit, and FIG. The figure is a circuit diagram showing a modification thereof. l...Rear wheel, 2...Rear wheel steering device, 3...
Electric power steering device, 6... electric motor, 8...
- Rear wheel steering angle sensor, 9... Centering spring, lO... Controller, ll-... Motor drive circuit, 12... Front wheel steering angle sensor, 13... Vehicle speed sensor, 15. ...Motor short circuit control circuit, 22...
...First relay switch, 23...Short circuit, 2
4...Second relay switch, 30...Transistor protection diode. Patent applicant: Automotive Equipment Co., Ltd. Agent: Masaki Yamakawa (and 2 others) Procedural amendment (
Own boat 6 lively 8 arms 78
Claims (1)
力舵取装置を備えてなる四輪操舵車の後輪転舵装置にお
いて、前記電動モータへの通電回路を電源オフ信号によ
り遮断するとともに、この電動モータの端子同士を短絡
させるモータ短絡制御回路を設けたことを特徴とする四
輪操舵車の後輪転舵装置。In a rear wheel steering device for a four-wheel steering vehicle comprising an electric power steering device that controls steering of the rear wheels using rotational force from an electric motor, a current supply circuit to the electric motor is cut off by a power off signal; A rear wheel steering device for a four-wheel steering vehicle, characterized in that a motor short-circuit control circuit is provided to short-circuit the terminals of the electric motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63034024A JPH01212668A (en) | 1988-02-18 | 1988-02-18 | Rear wheel steering device for four-wheel steering vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63034024A JPH01212668A (en) | 1988-02-18 | 1988-02-18 | Rear wheel steering device for four-wheel steering vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH01212668A true JPH01212668A (en) | 1989-08-25 |
Family
ID=12402809
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP63034024A Pending JPH01212668A (en) | 1988-02-18 | 1988-02-18 | Rear wheel steering device for four-wheel steering vehicle |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH01212668A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0274470A (en) * | 1988-09-09 | 1990-03-14 | Nissan Motor Co Ltd | Fail-safe device of rear wheel steering motor |
| US5289891A (en) * | 1991-07-10 | 1994-03-01 | Toyota Jidosha Kabushiki Kaisha | Rear-wheel steering apparatus for wheeled vehicle |
| CN112172537A (en) * | 2019-07-01 | 2021-01-05 | 丰耒（上海）智能科技有限公司 | Pure electric vehicle drive control system and method |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61202977A (en) * | 1985-03-06 | 1986-09-08 | Jidosha Kiki Co Ltd | Steering device of vehicle |
-
1988
- 1988-02-18 JP JP63034024A patent/JPH01212668A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61202977A (en) * | 1985-03-06 | 1986-09-08 | Jidosha Kiki Co Ltd | Steering device of vehicle |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0274470A (en) * | 1988-09-09 | 1990-03-14 | Nissan Motor Co Ltd | Fail-safe device of rear wheel steering motor |
| US5289891A (en) * | 1991-07-10 | 1994-03-01 | Toyota Jidosha Kabushiki Kaisha | Rear-wheel steering apparatus for wheeled vehicle |
| CN112172537A (en) * | 2019-07-01 | 2021-01-05 | 丰耒（上海）智能科技有限公司 | Pure electric vehicle drive control system and method |
| CN112172537B (en) * | 2019-07-01 | 2022-05-24 | 丰耒（上海）智能科技有限公司 | Pure electric vehicle drive control system and method |
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