JPH0195977A - Front and rear wheel steering device for automobile - Google Patents
Front and rear wheel steering device for automobileInfo
- Publication number
- JPH0195977A JPH0195977A JP25528787A JP25528787A JPH0195977A JP H0195977 A JPH0195977 A JP H0195977A JP 25528787 A JP25528787 A JP 25528787A JP 25528787 A JP25528787 A JP 25528787A JP H0195977 A JPH0195977 A JP H0195977A
- Authority
- JP
- Japan
- Prior art keywords
- steering
- rear wheel
- wheel steering
- starting
- distance
- 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
- 230000007246 mechanism Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 2
- 238000005259 measurement Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000003340 mental effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
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
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)
Abstract
Description
【発明の詳細な説明】 産業上の利用分野 本発明は自動車用前後輪操舵装置に関するものである。[Detailed description of the invention] Industrial applications The present invention relates to a front and rear wheel steering device for an automobile.
従来の技術
自動車において、前輪の転舵に連動して後輪操舵用アク
チュエータが作動し後輪を転舵させる前後輪操舵装置は
従来より種々開発されている。2. Description of the Related Art In automobiles, various front and rear wheel steering devices have been developed in which a rear wheel steering actuator operates in conjunction with steering of the front wheels to steer the rear wheels.
自動車における前後輪操舵装置は一般に、低車連時には
前輪転舵方向に対し後輪を逆方向に転舵（逆相転舵）さ
せて旋回性の向上をはかり、高車速時は前輪転舵方向に
対し後輪を同方向に転舵（同相転舵）させると共に車速
が増すに従って前輪舵角θｆに対する後輪舵角θｒの比
（前後輪転舵比）Ｏｒｌｏｆを次第に１に近づけるよう
増大させて行くと言う後輪舵角制御を行うことにより高
速走行時の安定性向上をはかるようにしているのが普通
である。Front and rear wheel steering systems in automobiles generally aim to improve turning performance by steering the rear wheels in the opposite direction to the front wheel steering direction (reverse phase steering) when the vehicle is running at low speed, and when the vehicle is running at high speed. The rear wheels are steered in the same direction (in-phase steering), and as the vehicle speed increases, the ratio of the rear wheel steering angle θr to the front wheel steering angle θf (front and rear wheel steering ratio) Orlof is gradually increased to approach 1. Normally, rear wheel steering angle control is used to improve stability when driving at high speeds.
このように前輪舵角と車速とから後輪舵角（転舵方向も
含む）を制御する一般的な前後輪操舵装置においては、
車体の−・側面例えば左側を塀や壁等の障害物に沿わせ
て駐車している状態から発進するような場合、ハンドル
を右に切るとこの場合極低車速であるので後輪は逆相転
舵となって左に転舵し車体後部が左側にせり出して障害
物に当るおそれが生じる等、狭い場所での運転操作が非
常に厄介であると言う問題を有している。In a typical front and rear wheel steering system that controls the rear wheel steering angle (including the steering direction) from the front wheel steering angle and vehicle speed,
- side of the car body For example, when starting from a state where the car is parked with the left side along an obstacle such as a fence or wall, if you turn the steering wheel to the right, the rear wheels will move in the opposite direction because the vehicle speed is extremely low in this case. This poses a problem in that it is extremely difficult to operate in narrow spaces, such as when the vehicle is steered to the left and the rear of the vehicle body protrudes to the left, causing the risk of hitting an obstacle.
そこで、車体側方の障害物までの距離を検出する距離セ
ンサを設け、車体側方スペースが所定値以下の場合は、
前輪舵角に関係なく後輪舵角をゼロに固定（特開昭６１
−１８１７７８号公報参照）したり、或は車速が極低速
であっても後輪を同相転舵とし且つ前後輪転舵比θｒ１
０ｆを１に固定（特開昭６１−１３５８６６号公報参照
）したりする装置が従来より開発されている。Therefore, a distance sensor is installed to detect the distance to an obstacle on the side of the vehicle, and if the space on the side of the vehicle is less than a predetermined value,
Fixed rear wheel steering angle to zero regardless of front wheel steering angle (Unexamined Japanese Patent Publication No. 61
(Refer to Publication No. 181778), or even if the vehicle speed is extremely low, the rear wheels are steered in the same phase and the front and rear wheels steering ratio θr1 is
Devices for fixing 0f to 1 (see Japanese Unexamined Patent Publication No. 135866/1983) have been developed.
発明が解決しようとする問題点
ところが、車体の片側を塀や壁等の障害物に沿わせて縦
列駐車している状態からの発進脱出は、車体側面と障害
物との間のスペースだけでなく、自軍とその前方に駐車
している他車との間の距離即ち前方スペースが充分にあ
るかどうかが問題であり、上記の従来装置のように側方
スペースが設定値以下のとき単に後輪舵角をゼロに固定
若しくは後輪同相転舵でＯｒ／θｆ＝１に固定する装置
では前方スペースが小なるときは発進脱出が出来なくな
ってしまう。Problems that the invention aims to solve However, starting and escaping from a state where one side of the car body is parallel parked along an obstacle such as a fence or wall requires not only the space between the side of the car body and the obstacle. , the problem is whether there is enough distance between the own troops and other cars parked in front of them, that is, whether there is enough space in front of them.As with the conventional device mentioned above, when the side space is less than the set value, the rear wheels are simply With a device that fixes the steering angle to zero or fixes it to Or/θf=1 by steering the rear wheels in phase, it becomes impossible to start and escape when the front space is small.
本発明はこのような問題に対処することを主目的とする
ものである。The main purpose of the present invention is to address such problems.
問題点を解決するための手段
本発明は、前輪舵角と車速とから後輪転舵角（転舵方向
を含む）目標値を決定しその決定値通りに後輪操舵を行
わせるべき出力を後輪操舵機構のアクチュエータに発す
るコントロールユニットを装備した自動車の前後輪操舵
装置において、駐車状態からの発進時、車体の前後およ
び左右の障害物までの距離情報入力に基づき発進脱出可
能な操舵パターンを演算にて選定する操舵ハターン演算
部をＬ記コントロールユニットに設け、該演算選定結果
を表示する表示部を設けたことを特徴とするものである
。Means for Solving the Problems The present invention determines a target value for the rear wheel steering angle (including the steering direction) from the front wheel steering angle and the vehicle speed, and then outputs the output to cause the rear wheels to be steered according to the determined value. In a front and rear wheel steering system of a car equipped with a control unit that sends signals to the actuators of the wheel steering mechanism, when starting from a parked state, a steering pattern that allows the vehicle to start and escape is calculated based on input of distance information to obstacles in the front, rear, left and right sides of the vehicle. The present invention is characterized in that the L control unit is provided with a steering pattern calculation section for selecting the steering pattern, and a display section is provided to display the calculation selection results.
作 用
上記により、駐車状態からの発進に際し、距離センサか
らの信号又はドライバの目測にて車体前後方向および車
体左右方向の各障害物までの距離情報がインプットされ
ると、操舵パターン演算部は先ず前方障害物までの距離
Ａが後輪同相転舵で且つ前後輪転舵比Ｏｒ／θｆを１と
し前輪最大転舵角にて発進脱出可能な距離であるかどう
かを演算し、発進脱出可能であれば左右の障害物までの
距ｆｔＢとＤを比較し距離の大なる方向を発進方向と定
め、後輪同相転舵。As described above, when starting from a parked state, when the distance information to each obstacle in the longitudinal direction and the lateral direction of the vehicle body is inputted by the signal from the distance sensor or the driver's visual estimation, the steering pattern calculation section first operates as follows. Calculate whether the distance A to the obstacle in front is such a distance that it is possible to start and escape with the rear wheels being steered in the same phase and the front and rear wheels steering ratio Or/θf being 1, and the front wheels being at the maximum steering angle. For example, the distances ftB and D to the left and right obstacles are compared, the direction with the greater distance is determined as the starting direction, and the rear wheels are steered in phase.
０ｒ１０ｆ＝１．ハンドル操作方向（および操舵角）等
の操舵パターンを表示部に表示し、後輪同相転舵、Ｏｒ
／θｆ＝１に自動的又はドライバの手動操作にて固定的
に設定する。0r10f=1. Steering patterns such as steering direction (and steering angle) are displayed on the display, and rear wheel in-phase steering, or
/θf=1 is fixedly set automatically or manually by the driver.
上記用ｇＩＡが後輪同相転舵では発進脱出不可能な距離
であると判断した場合は次に上記Ｂ、Ｄのうち小なる側
の距離が後輪逆相転舵。If the above-mentioned gIA determines that the distance is such that starting and escaping is impossible with rear wheels in-phase steering, then the smaller distance between B and D is rear wheels reverse-phase steering.
Ｏｒ／θｆ＝１の後輪操舵パターンでの車体後部の側方
への最大張出量より大であるかどうかを演算し、最大張
出量より大であれば上記後輪逆相転舵、θｒ／θｆ＝１
および上記Ｂ、Ｄのうち大なる側へのハンドル操作を選
定しこれを表示部にて表示し、最大張出量より小であれ
ば車体後部の側方張出量を小なる側の側方距離の範囲内
にとどめ得る後輪逆相転舵のθｒ／θｆを演算決定し、
その旨およびハンドル操作方向（角度を含む）を表示部
に表示する。そして後輪逆相転舵、決定したＯｒ／θｆ
に自動的に又は手動操作で固定的に設定する。It is calculated whether the amount of lateral protrusion of the rear of the vehicle body is larger than the maximum amount of lateral protrusion in the rear wheel steering pattern of Or/θf=1, and if it is larger than the maximum amount of protrusion, the rear wheels are steered in reverse phase; θr/θf=1
Select the steering wheel operation toward the larger side of B and D above, display this on the display, and if it is smaller than the maximum amount of overhang, change the amount of lateral overhang of the rear of the vehicle body to the side of the smaller side. Calculate and determine θr/θf of rear wheel reverse phase steering that can be kept within the distance range,
This fact and the steering wheel operating direction (including angle) are displayed on the display. And rear wheel reverse phase steering, determined Or/θf
be set automatically or manually.
上記のようにして例えば縦列駐車からの発進脱出を容易
に行い得るようにするものである。As described above, it is possible to easily start and escape from parallel parking, for example.
実施例 以下本発明の実施例を附図を参照して説明する。Example Embodiments of the present invention will be described below with reference to the accompanying drawings.
第１図において、ｌはハンドル、２は前輪、３は前輪２
の転舵角（転舵方向も含む）を検出する前輪舵角センサ
、４は車速を検出する車速センサであり、前輪舵角セン
サ３の前輪舵角信号と車速センサ４の車速信号は後輪操
舵用のコントロールユニット５にインプットされる。In Figure 1, l is the handle, 2 is the front wheel, and 3 is the front wheel 2.
4 is a vehicle speed sensor that detects the vehicle speed, and the front wheel steering angle signal of the front wheel steering angle sensor 3 and the vehicle speed signal of the vehicle speed sensor 4 are the front wheel steering angle sensor 4 that detects the steering angle (including the steering direction) of the rear wheels. It is input to the control unit 5 for steering.
該コントロールユニット５は上記前輪舵角信号と車速信
号とのインプットにより予じめ設定されそいる車速−前
後輪転舵比の特性に基づき後輪を転舵させるべき方向と
舵角目標値を決定し、モータ６等の後輪操舵用アクチュ
エータを作動させるべき出力信号を発してモータ６を作
動させ、電磁クラッチ７、後輪操舵用ギヤボックス８等
よりなる後輪操舵機構を介して後輪９を転舵作動させ、
該後輪の転舵角（転舵方向も含む）を検出する後輪舵角
センサｌＯの後輪舵角信号はコントロールユニット５に
インプットされ、後輪９を決定した方向、舵角目標値通
りに転舵させるようになっている。The control unit 5 determines the direction in which the rear wheels should be steered and the target value of the steering angle based on the vehicle speed-front and rear wheel steering ratio characteristics that are preset by inputting the front wheel steering angle signal and the vehicle speed signal. , generates an output signal to operate a rear wheel steering actuator such as the motor 6, operates the motor 6, and controls the rear wheel 9 via a rear wheel steering mechanism consisting of an electromagnetic clutch 7, a rear wheel steering gear box 8, etc. Activate the steering,
The rear wheel steering angle signal of the rear wheel steering angle sensor lO that detects the steering angle (including the steering direction) of the rear wheels is input to the control unit 5, and the rear wheel 9 is set in the determined direction and according to the steering angle target value. It is designed to steer the ship.
上記は従来の前後輪操舵装置と同様である。The above is the same as the conventional front and rear wheel steering device.
１１は車体の前後左右に設けられた距離センサであり、
該距離センサ１１は例えば超音波。11 is a distance sensor provided on the front, rear, left and right sides of the vehicle body;
The distance sensor 11 is, for example, an ultrasonic sensor.
赤外線或は電波等を前後左右に向けてそれぞれ発信し、
その発進波が障害物に反射して戻って来た反射波を受信
するものであり、該発信と受信の時間差から距離計測演
算回路１２にて前後左右の障害物までの距離をそれぞれ
演算にて求め、その情報を前記コントロールユニット５
にインプットするようになっている。Sends infrared rays or radio waves to the front, back, left and right, respectively.
The launched wave is reflected by an obstacle and the reflected wave is received. Based on the time difference between the transmission and reception, the distance measurement calculation circuit 12 calculates the distances to the obstacles in the front, rear, left, and right directions. and send the information to the control unit 5.
It is designed to be input to.
コントロールユニット５には、上記前後左右の障害物ま
での距離情報に基づき発進脱出可能な操舵パターンを演
算にて求める操舵パターン演算部が設けられており、そ
の演算結果を表示部１３にて表示するよう構成されてい
る。The control unit 5 is provided with a steering pattern calculating section that calculates a steering pattern that allows starting and escaping based on the distance information to the front, rear, left, and right obstacles, and displays the calculation results on the display section 13. It is configured like this.
表示部１３は運転者が容易に視認できるよう運転席前方
の例えば第２図に示すような計器板部に取付けられてい
る。The display section 13 is attached to an instrument panel section, for example, as shown in FIG. 2, in front of the driver's seat so that the driver can easily see it.
上記コントロールユニット５の操舵パターン演算部にお
ける操舵パターン決定は、例えば第４図に示すロジック
にて行われる。The steering pattern calculation section of the control unit 5 determines the steering pattern using the logic shown in FIG. 4, for example.
第４図において、Ａは前方スペース、Ｂは左側方スペー
ス、Ｃは後方スペース、Ｄは右側方スペースを示し、又
前輪最大転舵角をθｆｔ５ａｘ。In FIG. 4, A represents the front space, B represents the left side space, C represents the rear space, D represents the right side space, and the maximum steering angle of the front wheels is θft5ax.
自車の車幅寸法をＴとし、且つ後輪逆相転舵で前後輪転
舵比がｌ＝１のときの車体後端の一側方への最大張出量
をＰとする。Let T be the width dimension of the own vehicle, and let P be the maximum amount of protrusion of the rear end of the vehicle body to one side when the front and rear wheels have a steering ratio of l=1 with reverse phase steering of the rear wheels.
発進に際し、前後左右のスペースＡ−Ｄの情報がコント
ロールユニット５に入力されると、まずＡ＞ｔ、θ８．
オであるかどうかを演算する。つまり後輪同相転舵で前
後輪転舵比を１＝１として発進した場合、自軍は斜め前
方にほぼ平行移動することになるが、この場合前輪最大
転舵角０ｆｔｓａｚで縦列駐車より発進脱出可能な最大
前方スペースＡ、は□１．ｙＬＩ９ｆ、、、イで求める
ことができる。そこで実際の前方スペースＡがＡＯより
大であれば一側方のスペースの有無とは関係なく後輪同
相転舵９前後輪転舵比１：１で発進脱出可能であると判
断し、後輪同相転舵でθｒ／θｆ＝１に設定し、次にＢ
−Ｄの演算によりＢ−Ｄ≧Ｏであればハンドル左回り、
そうでなければハンドル右切りと言うように発進脱出方
向を判断し、上記後輪操舵パターンおよび発進脱出方向
の判断結果を表示部１３に表示する。尚縦列駐車では道
路の片側へ寄せて駐車するのが普通であるので、Ｂ又は
Ｄのいずれか一方のスペースは大きく開いておりＢ−Ｄ
＝Ｄと言うケースは実際上はほとんどなく、表示部１３
の表示部りにハンドル操作することにより容易に発進脱
出することができる。When starting, when the information of the front, rear, left and right spaces A-D is input to the control unit 5, first, A>t, θ8.
Calculate whether it is true or not. In other words, if the rear wheels are steered in the same phase and the front and rear wheels are steered at a ratio of 1 = 1, the enemy army will move diagonally forward and almost in parallel, but in this case, it is possible to start and escape from parallel parking with the maximum front wheel steering angle of 0 ftsaz. The maximum front space A is □1. It can be found by yLI9f,...a. Therefore, if the actual front space A is larger than AO, it is determined that it is possible to start and escape with rear wheels in-phase steering 9 and front and rear wheels steering ratio of 1:1, regardless of the presence or absence of space on one side. Set θr/θf=1 by steering, then set B
-D calculation: If B-D≧O, the steering wheel turns counterclockwise.
If not, the starting and escaping direction is determined such as turning the steering wheel to the right, and the determination result of the rear wheel steering pattern and the starting and escaping direction is displayed on the display unit 13. In addition, when parallel parking, it is normal to park on one side of the road, so either space B or D is wide open, so B-D
In reality, there are almost no cases where =D, and the display section 13
You can easily start and escape by operating the handle on the display.
Ａ＞□っ。、１ 条件を満たしていないときは、後輪同
相転舵での発進は不可能であり、そのときはＢ−Ｄの演
算により左右いずれのスペースが大きいかを求めスペー
スの大なる側を発進脱出方向と定め、次にスペース小な
る側の距離が後輪逆相転舵での車体後部の側方への最大
張り出しｍ Ｐより大きいか小さいかを演算し、スペー
ス小なる側の距離がＰより大であれば後輪逆相転舵で前
後輪転舵比ｌ：ｌに固定的に設定し、その旨表示部１３
に表示する。A>□. , 1 If the conditions are not met, it is impossible to start with rear wheel in-phase steering, and in that case, use the B-D calculation to determine which space is larger on the left or right and start and escape from the side with the larger space. Next, calculate whether the distance on the side with the smaller space is greater than or smaller than the maximum lateral protrusion of the rear of the vehicle during rear wheel reverse phase steering, and calculate whether the distance on the side with the smaller space is smaller than P. If it is, the front and rear wheels are fixedly set to a steering ratio l:l with reverse phase steering of the rear wheels, and the display section 13 to that effect
to be displayed.
スペース小なる側の距離がＰより小であった場合は、後
輪逆相転舵で前後輪転舵比と前輪操舵量をどの程度にす
れば発進脱出可能であるかをマツプにより決定しその決
定値通りに前後輪転舵比を固定的に設定すると共に、該
決定した前後輪転舵比と前輪操舵量とを表示部１３に表
示する。If the distance on the side with the smaller space is smaller than P, use the map to determine how much the front and rear wheel steering ratio and front wheel steering amount should be for starting and escaping with reverse phase steering of the rear wheels. The front and rear wheel steering ratios are fixedly set according to the values, and the determined front and rear wheel steering ratios and front wheel steering amounts are displayed on the display unit 13.
この場合の表示部１３の表示態様例を第３図に示す。An example of the display mode of the display section 13 in this case is shown in FIG.
ドライバはこの表示通りにハンドル操作することにより
容易確実に発進脱出できる。The driver can easily and reliably start and escape by operating the steering wheel according to this display.
上記実施例では前後左右の距離センサ１１と距離計測演
算回路１２を設けて前後左右のスペースを自動的に計測
演算する例を示しているが、これらは必ずしも必要では
なく、発進脱出に際しドライバが例えば目測等により前
後左右の距ｆｉＡ、Ｂ、Ｃ，Ｄを確定しその距離情報を
コントロールユニット５に入力操作することによってコ
ントロールユニット５が前記第４図の実施例に示したよ
うな順序で発進脱出可能な操舵パターンを選定し表示部
１２に表示するようにしても良い。In the above embodiment, the front, rear, left, and right distance sensors 11 and the distance measurement calculation circuit 12 are provided to automatically measure and calculate the front, rear, left, and right spaces, but these are not necessarily necessary, and the driver can, for example, By determining the distances fiA, B, C, and D in the front, rear, left, and right directions by visual measurement, and inputting the distance information to the control unit 5, the control unit 5 starts and escapes in the order shown in the embodiment shown in FIG. Possible steering patterns may be selected and displayed on the display unit 12.
尚第１図において、１４は転舵モード切換スイッチであ
り、該転舵モード切換スイッチ１４の操作により前後輪
転舵比θｒ／θｆを＋１．０〜−１．０の範囲で任意に
選択設定することができるものである。上記前後輪転舵
比において、正、負は前輪に対する後輪転舵方向を表わ
しており、正は後輪同相転舵、負は後輪逆相転舵とする
。In FIG. 1, reference numeral 14 denotes a steering mode changeover switch, and by operating the steering mode changeover switch 14, the front and rear wheel steering ratio θr/θf is arbitrarily selected and set within the range of +1.0 to -1.0. It is something that can be done. In the above-mentioned front and rear wheel steering ratios, positive and negative represent the direction in which the rear wheels are steered relative to the front wheels; positive means that the rear wheels are steered in the same phase, and negative means that the rear wheels are steered in opposite phase.
該転舵モード切換スイッチ１４は、例えば比較的小なる
旋回半径にてＵターンしたいときや車庫入れ、車庫出し
峙等該転舵モード切換スイッチ１４の操作にて前後輪転
舵比を望ましい値に任意に固定的に設定できるものであ
るが、前記縦列駐車よりの発進脱出に際し、コントロー
ルユニット５は入力された前後左右の距離情報から第４
図に例示するロジックにて発進脱出可能な操舵パターン
を演算選定して例えば、第３図に示すような表示のみを
行い、ドライバがその表示通りに転舵モード切換スイッ
チ１４を操作してコントロールユニット５が選定した前
後輪転舵比を固定的に設定するようにしても良い。The steering mode changeover switch 14 is used to arbitrarily set the front and rear wheel steering ratio to a desired value by operating the steering mode changeover switch 14, for example, when you want to make a U-turn with a relatively small turning radius, or when you want to enter or exit the garage. However, when starting and escaping from the parallel parking, the control unit 5 uses the input front, rear, left and right distance information to set the fourth
Using the logic illustrated in the figure, a steering pattern that allows the vehicle to start and escape is calculated and selected, and a display as shown in FIG. The front and rear wheel steering ratios selected by No. 5 may be fixedly set.
前述したようにして縦列駐車状態から発進し脱出完了し
た後は、例えば距離センサ１１からの信号或は前輪舵角
センサ３からの信号或は又車速センサ４からの信号等に
よりコントロールユニット５が脱出完了と判断して自動
的に、又は転舵モード切換スイッチ１４のオフ操作等の
手動操作により、上記発進脱出に必要な固定的後輪操舵
パターンはクリヤされ、前輪舵角と車速とで後輪転舵方
向及び後輪転舵角目標値を決定する通常後輪舵角制御に
戻る。After starting and escaping from the parallel parking state as described above, the control unit 5 causes the vehicle to escape in response to, for example, a signal from the distance sensor 11, a signal from the front wheel steering angle sensor 3, or a signal from the vehicle speed sensor 4. The fixed rear wheel steering pattern necessary for starting and escaping is cleared automatically when it is determined that the steering mode is completed, or by manual operation such as turning off the steering mode changeover switch 14, and the rear wheel steering pattern is cleared based on the front wheel steering angle and vehicle speed. The process returns to normal rear wheel steering angle control which determines the steering direction and rear wheel turning angle target value.
発明の効果
以上のように本発明によれば、駐車状態からの発進に際
し、車体の前後左右の障害物までの距離の入力によりコ
ントロールユニットが自軍の発進可能な操舵パターン即
ち前輪転舵方向に対する後輪の転舵方向９前後輪転舵比
、／Ｘンドルを切る方向とハンドル操作角等を演算にて
選定し、その選定結果を表示部にて表示するようにした
ことにより、車体前後に充分にはスペースがなく且つ左
右いずれか一側のスペースも小であるような縦列駐車状
態からの発進脱出を極めて簡単容易且つ確実に行うこと
ができ、ドライバの精神的負担を軽くすることができる
もので、前後輪操舵車のメリットを最大限に活用できる
点実用的効果極めて大なるものである。Effects of the Invention As described above, according to the present invention, when starting from a parked state, the control unit inputs the distance to obstacles on the front, rear, left, and right sides of the vehicle body, and the control unit determines the steering pattern that allows the vehicle to start, that is, the rear wheel steering direction relative to the front wheel steering direction. Wheel steering direction 9 Front and rear wheel steering ratio, / This makes it extremely easy and reliable to start and escape from a parallel parking situation where there is no space and the space on either the left or right side is small, and it can lighten the mental burden on the driver. The practical effect is extremely large in that the advantages of front and rear wheel steering vehicles can be utilized to the fullest.
第１図は本発明の一実施例を示す平面説明図、第２図は
第１図の表示部の具体的配置例を示す正面図、第３図は
表示部の表示態様例を示す正面図、第４図は本発明にお
けるコントロールユニットの操舵パターンの演算態様例
を示すフローチャートである。
ｌ・・・ハンドル、２・・・前輪、３・・・前輪舵角セ
ンサ、４・・・車速センサ、５・・・コントロールユニ
ット、６・・・モータ、９・・・後輪、１０・・・後輪
舵角センサ、１１・・・距離センサ、１２・・・距離計
測演算回路、１３・・・表示部、１４・・・転舵モード
切換スイッチ。
以 上1 is an explanatory plan view showing an embodiment of the present invention, FIG. 2 is a front view showing a specific arrangement example of the display section in FIG. 1, and FIG. 3 is a front view showing an example of the display mode of the display section. , FIG. 4 is a flowchart showing an example of the calculation mode of the steering pattern of the control unit in the present invention. l... Handle, 2... Front wheel, 3... Front wheel steering angle sensor, 4... Vehicle speed sensor, 5... Control unit, 6... Motor, 9... Rear wheel, 10... ... Rear wheel steering angle sensor, 11... Distance sensor, 12... Distance measurement calculation circuit, 13... Display section, 14... Steering mode changeover switch. that's all
Claims (1)
角目標値を決定しその決定値通りに後輪操舵を行わせる
べき出力を後輪操舵機構のアクチュエータに発するコン
トロールユニットを装備した自動車の前後輪操舵装置に
おいて、駐車状態からの発進時、車体の前後および左右
の障害物までの距離情報入力に基づき発進脱出可能な操
舵パターンを演算にて選定する操舵パターン演算部を上
記コントロールユニットに設け、該演算選定結果を表示
する表示部を設けたことを特徴とする自動車用前後輪操
舵装置。Equipped with a control unit that determines the rear wheel steering direction and rear wheel steering angle target value from the front wheel steering angle and vehicle speed, and issues an output to the actuator of the rear wheel steering mechanism to cause the rear wheels to be steered according to the determined values. In the front and rear wheel steering system of a car, when starting from a parked state, the above-mentioned control controls a steering pattern calculation unit that calculates and selects a steering pattern that allows starting and escaping based on input of distance information to obstacles in the front, rear, left and right sides of the car body. A front and rear wheel steering device for an automobile, characterized in that a display unit is provided in the unit and displays the calculation selection result.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP25528787A JPH0195977A (en) | 1987-10-09 | 1987-10-09 | Front and rear wheel steering device for automobile |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP25528787A JPH0195977A (en) | 1987-10-09 | 1987-10-09 | Front and rear wheel steering device for automobile |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0195977A true JPH0195977A (en) | 1989-04-14 |
Family
ID=17276664
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP25528787A Pending JPH0195977A (en) | 1987-10-09 | 1987-10-09 | Front and rear wheel steering device for automobile |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0195977A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2009131922A1 (en) * | 2008-04-22 | 2009-10-29 | Gm Global Technology Operations, Inc. | Autonomous parking strategy based on available parking space |
-
1987
- 1987-10-09 JP JP25528787A patent/JPH0195977A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2009131922A1 (en) * | 2008-04-22 | 2009-10-29 | Gm Global Technology Operations, Inc. | Autonomous parking strategy based on available parking space |
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