JPH0328083A - Four-wheel steering device - Google Patents
Four-wheel steering deviceInfo
- Publication number
- JPH0328083A JPH0328083A JP16421989A JP16421989A JPH0328083A JP H0328083 A JPH0328083 A JP H0328083A JP 16421989 A JP16421989 A JP 16421989A JP 16421989 A JP16421989 A JP 16421989A JP H0328083 A JPH0328083 A JP H0328083A
- Authority
- JP
- Japan
- Prior art keywords
- steering
- rear wheel
- wheel
- phase
- 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.)
- Granted
Links
- 230000007935 neutral effect Effects 0.000 claims abstract description 6
- 238000001514 detection method Methods 0.000 claims description 13
- 230000004044 response Effects 0.000 description 2
- 230000007423 decrease Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 230000028838 turning behavior Effects 0.000 description 1
Landscapes
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
Description
【発明の詳細な説明】
（産業上の利用分野）
本発明は、前輪および後輪を操舵する四輪操舵装置の改
良に関する。DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to an improvement of a four-wheel steering device that steers front wheels and rear wheels.
（従来の技術）
従来、四輪操舵装置においては、後輪を前輪と同相方向
に操舵することにより車両旋回時の操縦安定性を向上で
きることが知られているが、近年、一時的に後輪を逆相
方向に操舵する制御を上記の同相制御に加味することに
より、車両旋回時のヨ一応答も同時に向上するような四
輪操舵装置が提案されている。(Prior art) Conventionally, it has been known that four-wheel steering systems can improve steering stability during vehicle turns by steering the rear wheels in the same phase as the front wheels. A four-wheel steering system has been proposed that simultaneously improves the yaw response when the vehicle turns by adding control for steering the wheels in the opposite phase direction to the above-mentioned in-phase control.
このような、四輪操舵装置として、例えば特開昭５９−
１８６７７３号公報や特開昭６ ２−１ ９ １２７２
号公報に示されたものがあり、これらは、何れも後輪操
舵機構を単一の後輪操舵手段の出力により制御して、操
舵初期に後輪を逆相方向に操舵した後、後輪を同相方向
に操舵するものとなっている。As such a four-wheel steering device, for example, Japanese Patent Application Laid-Open No. 59-1989
Publication No. 186773 and Japanese Unexamined Patent Application Publication No. 186772-191272
In each of these, the rear wheel steering mechanism is controlled by the output of a single rear wheel steering means, and after the rear wheels are steered in the opposite phase direction at the initial stage of steering, the rear wheels are It is designed to steer in the same phase direction.
しかしながら、上記の従来例は単一の後輪操舵手段の出
力により後輪の位相反転制御を行うものであるため、制
御が複雑なものとなる欠点がある。However, since the above-mentioned conventional example performs phase inversion control of the rear wheels using the output of a single rear wheel steering means, there is a drawback that the control becomes complicated.
しかも、前者の従来例は、操舵初期の設定時間経過後に
後輪の位相を逆相から同相に反転させるものであるため
、回頭性と収束性の両立を考えると、こうした設定時間
の設定は難しい。Moreover, in the former conventional example, the phase of the rear wheels is reversed from opposite phase to in-phase after the initial set time of steering has elapsed, so it is difficult to set such a set time when considering both turning performance and convergence. .
また、後者の従来例は、回頭動作時と回頭収束時とを検
知して後輪の位相反転を行うものとなっているが、これ
ではステアリングホイールを切り戻した時に後輪の位相
が反転するため、車両り旋回挙動が急激に変化すること
になり、乗員に違和感を与え易い問題がある。Furthermore, in the latter conventional example, the phase of the rear wheels is reversed by detecting the turning operation and when the turning has converged, but in this case, the phase of the rear wheels is reversed when the steering wheel is turned back. As a result, the turning behavior of the vehicle changes rapidly, which tends to give a sense of discomfort to the occupants.
このため、本出願人は、特願昭６ ３−２ ７ ５ ６
５３号等によりステアリングホイールの操舵角あるい
は操舵力に応勤して後輪を前輪と同相方向に操舵する同
相操舵手段と、ステアリングホイールの操舵角速度に応
じて上記後輪を上記前輪とは逆相方向に操舵する逆相操
舵手段とを有し、上記同相操舵手段の操舵出力と上記逆
相操舵手段の操舵出力の合成により後輪の舵角を制御す
る四輪操舵装置を提案している。For this reason, the applicant filed a patent application for
No. 53 or the like, the in-phase steering means steers the rear wheels in the same phase direction as the front wheels in response to the steering angle or steering force of the steering wheel, and the in-phase steering means steers the rear wheels in the opposite phase direction from the front wheels in accordance with the steering angular velocity of the steering wheel. A four-wheel steering system has been proposed, which has a reverse phase steering means for steering in the direction of the vehicle, and controls the steering angle of the rear wheels by combining the steering output of the in-phase steering means and the steering output of the reverse phase steering means.
そして、この本出願人の提案による四輪操舵装置によれ
ば、比較的簡単な制御で後輪の位相反転制御が行え車両
旋回時の回頭性と収束性を両立できると共に、好適な旋
回フィーリングを得ることができる。According to the four-wheel steering system proposed by the present applicant, phase reversal control of the rear wheels can be performed with relatively simple control, and it is possible to achieve both turning performance and convergence performance when the vehicle turns, and also to provide a suitable turning feeling. can be obtained.
（発明が解決しようとする課題）
しかしながら、上記本出願人の提案による四輪操舵装置
においても、装置の故障に対する安全性は確実に確保す
る必要がある。特に、操舵角速度に応じて後輪の操舵出
力を制御する場合には、操舵出力の発生状態と操舵角速
度とを参照して、操舵すべきでない操舵角速度領域にお
いて後輪が操舵されているか否かを判別することが考え
られる。(Problems to be Solved by the Invention) However, even in the four-wheel steering device proposed by the applicant, it is necessary to ensure safety against failure of the device. In particular, when controlling the steering output of the rear wheels according to the steering angular velocity, it is determined whether or not the rear wheels are being steered in a steering angular velocity region where steering should not be performed by referring to the generation state of the steering output and the steering angular velocity. It is possible to determine the
しかしながら、もし操舵角速度の検出系に故障が生じて
後輪が操舵されているような状蝋カ゛発生すると、上記
のように操舵出力の発生状態と操舵角速度とを参照して
も、故障の検出を行うことはできない。However, if a failure occurs in the steering angular velocity detection system and a state where the rear wheels are being steered occurs, the malfunction cannot be detected even if the steering output generation state and the steering angular velocity are referenced as described above. cannot be done.
（課題を解決するための手段）
本発明は、上記の課題を解決するために創案されたもの
で、ステアリングホイールの摸舵角速度を検出する操舵
角速度検出手段と、後輪を操舵する後輪操舵手段と、上
記操舵角速度検出手段の検出出力に応じて上記後輪操舵
手段の作動を制御する制御装置と、上記ステアリングホ
イールの操舵角度を検出する操舵角度検出手段と、上記
後輪操舵手段の操舵作動の有無を検知する後輪操舵検出
手段とを有し、上記制御装置は、上記操舵角検出手段の
出力が上記ステアリングホイールの中立付近の所定値よ
り小さく且つ上記後輪操舵検出手段の出力信号から上記
後輪の操舵作動が検知される状態が所定時間以上継続し
たことを検知すると上記後輪操舵手役の操舵作動を禁止
することを特徴とする四輪摸舵装置である。(Means for Solving the Problems) The present invention was created to solve the above problems, and includes a steering angular speed detection means for detecting the steering angular speed of a steering wheel, and a rear wheel steering system for steering the rear wheels. a control device for controlling the operation of the rear wheel steering means in accordance with a detection output of the steering angular velocity detecting means; a steering angle detecting means for detecting a steering angle of the steering wheel; and a control device for controlling the rear wheel steering means. and rear wheel steering detection means for detecting the presence or absence of operation, and the control device is arranged such that the output of the steering angle detection means is smaller than a predetermined value near the neutral position of the steering wheel, and the output signal of the rear wheel steering detection means is The four-wheel steering device is characterized in that the steering operation of the rear wheel helmsman is prohibited when it is detected that the steering operation of the rear wheels is detected for a predetermined period of time or more.
（作用）
本発明によれば、操舵角検出手段の出力がステアリング
ホイールの中立付近の所定値より小さく且つ後輪操舵検
出手段の出力信号から後輪の操舵作動が検知される状態
が所定時間以上継続したことを検知すると後輪操舵手段
の操舵作動を禁止するものであり、ステアリングホイー
ルが中立域に所定時間保持されている状態では操舵角速
度も発生しない点に着目して、操舵角速度に応じて後輪
操舵手段の作動を制御する四輪操舵装置において上記よ
うな状態で後輪が操舵されていることを所定時間検知す
ると装置に故障が発生していると判断するようにしたも
のである。そして、摸舵角速度の状態に基づいて故障判
定を行うものではないため、操舵角速度の検出系の故障
に起因する故障であっても、確実に故陣を検知すること
ができ、故障を検知すると後輪操舵手段の操舵作動を禁
止することにより安全性を確保することができるもので
ある。(Function) According to the present invention, the state in which the output of the steering angle detection means is smaller than the predetermined value near the neutral position of the steering wheel and the rear wheel steering operation is detected from the output signal of the rear wheel steering detection means is longer than the predetermined time. If it detects that the steering operation has continued, the steering operation of the rear wheel steering means is prohibited. Focusing on the fact that the steering angular velocity does not occur when the steering wheel is maintained in the neutral range for a predetermined period of time, the system In a four-wheel steering device that controls the operation of a rear wheel steering means, if it is detected for a predetermined period that the rear wheels are being steered in the above state, it is determined that a failure has occurred in the device. In addition, since failure determination is not made based on the state of the steering angular velocity, even if the failure is due to a failure in the steering angular velocity detection system, it is possible to reliably detect the dead position, and when a failure is detected, Safety can be ensured by prohibiting the steering operation of the rear wheel steering means.
（実施例）
以下、本発明の実施例を添付図面に基づいて詳細に説明
する。(Example) Hereinafter, an example of the present invention will be described in detail based on the accompanying drawings.
第１〜第１９図は本発明の第一実施例を示すものである
。1 to 19 show a first embodiment of the present invention.
第１図は、この四輪操舵装置の概略構或図である。FIG. 1 is a schematic diagram of the four-wheel steering system.
左右の前輪ＩＬ．ＩＲは、ナックル２Ｌ，２Ｒに回転自
在に支持されている。また、ナックル２Ｌ，２Ｒは、タ
イロッド３Ｌ．３Ｒを介してパワーステアリング装置４
のピストンロッド５の左右端に連結されている。ピスト
ンロッド５は、シリンダ６を挿通して設けられ、シリン
ダ６内にシリンダ６内を左右の圧力室７Ｌ，７Ｈに隔成
するピストン８を有している。また、ピストンロッド５
はステアリングギャボックス９内のピニオン３９に噛み
合うラックを有している。ステアリングホイール１０か
らの操舵入力をコラムシャフ｝１１から受けるｈｌ！Ｊ
１ステアリングシャフト１２と、ステアリングギャボッ
クス９に連結される第２ステアリングシャフト１３との
間にはギヤ比可変機構ｌ４が介装されている。このため
、ステアリングホイール１０からの操舵入力は、ギヤ比
可変機構ｌ４を介してステアリングギャボックス９に伝
達されるものとなっている。また、第２ステアリングシ
ャフト１３とピニオンギャ３９との間には自体公知のパ
ワーステアリング用バルブが設けられており、圧力室７
Ｌ，７Ｒへの油圧の供給を制御するものとなっている。Left and right front wheels IL. IR is rotatably supported by knuckles 2L and 2R. Further, the knuckles 2L and 2R are connected to the tie rod 3L. Power steering device 4 via 3R
are connected to the left and right ends of the piston rod 5. The piston rod 5 is inserted through the cylinder 6 and has a piston 8 that separates the inside of the cylinder 6 into left and right pressure chambers 7L and 7H. In addition, the piston rod 5
has a rack that meshes with a pinion 39 in the steering gear box 9. hl which receives the steering input from the steering wheel 10 from the column shaft}11! J
A variable gear ratio mechanism l4 is interposed between the first steering shaft 12 and the second steering shaft 13 connected to the steering gear box 9. Therefore, the steering input from the steering wheel 10 is transmitted to the steering gearbox 9 via the variable gear ratio mechanism l4. Further, a power steering valve known per se is provided between the second steering shaft 13 and the pinion gear 39, and the pressure chamber 7
It controls the supply of hydraulic pressure to L and 7R.
なお、パワーステアリング装置４用のオイルポンブ１５
は、エンジン１６により駆動され、エンジン１６の回転
数が所定値以上に達した後はエンジン回転数の上昇と共
に吐出流量が低下する形式のものが使用されている。In addition, the oil pump 15 for the power steering device 4
is driven by the engine 16, and after the rotational speed of the engine 16 reaches a predetermined value or more, the discharge flow rate decreases as the engine rotational speed increases.
Claims (1)
度検出手段と、後輪を操舵する後輪操舵手段と、上記操
舵角速度検出手段の検出出力に応じて上記後輪操舵手段
の作動を制御する制御装置と、上記ステアリングホィー
ルの操舵角度を検出する操舵角度検出手段と、上記後輪
操舵手段の操舵作動の有無を検知する後輪操舵検出手段
とを有し、上記制御装置は、上記操舵角検出手段の出力
が上記ステアリングホィールの中立付近の所定値より小
さく且つ上記後輪操舵検出手段の出力信号から上記後輪
の操舵作動が検知される状態が所定時間以上継続したこ
とを検知すると上記後輪操舵手段の操舵作動を禁止する
ことを特徴とする四輪操舵装置A steering angular velocity detection means for detecting a steering angular velocity of a steering wheel, a rear wheel steering means for steering a rear wheel, and a control device for controlling operation of the rear wheel steering means according to a detection output of the steering angular velocity detection means; The control device includes a steering angle detecting means for detecting a steering angle of the steering wheel, and a rear wheel steering detecting means for detecting whether or not the rear wheel steering means has a steering operation, and the control device includes an output of the steering angle detecting means. is smaller than a predetermined value near the neutral position of the steering wheel, and when it is detected that the state in which the steering operation of the rear wheels is detected from the output signal of the rear wheel steering detection means continues for a predetermined time or more, the rear wheel steering means Four-wheel steering device characterized by prohibiting steering operation
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1164219A JP2805341B2 (en) | 1989-06-27 | 1989-06-27 | Four-wheel steering system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1164219A JP2805341B2 (en) | 1989-06-27 | 1989-06-27 | Four-wheel steering system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0328083A true JPH0328083A (en) | 1991-02-06 |
| JP2805341B2 JP2805341B2 (en) | 1998-09-30 |
Family
ID=15788935
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1164219A Expired - Lifetime JP2805341B2 (en) | 1989-06-27 | 1989-06-27 | Four-wheel steering system |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2805341B2 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5274555A (en) * | 1990-08-10 | 1993-12-28 | Matsushita Electric Industrial Co., Ltd. | Controlling apparatus of steering angle of rear wheels of four-wheel steering vehicle |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62191272A (en) * | 1986-02-18 | 1987-08-21 | Nissan Motor Co Ltd | Rear wheel steering device for vehicle |
| JPS63232076A (en) * | 1987-03-19 | 1988-09-28 | Atsugi Motor Parts Co Ltd | Rear wheel steering device for vehicle |
-
1989
- 1989-06-27 JP JP1164219A patent/JP2805341B2/en not_active Expired - Lifetime
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62191272A (en) * | 1986-02-18 | 1987-08-21 | Nissan Motor Co Ltd | Rear wheel steering device for vehicle |
| JPS63232076A (en) * | 1987-03-19 | 1988-09-28 | Atsugi Motor Parts Co Ltd | Rear wheel steering device for vehicle |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5274555A (en) * | 1990-08-10 | 1993-12-28 | Matsushita Electric Industrial Co., Ltd. | Controlling apparatus of steering angle of rear wheels of four-wheel steering vehicle |
| US5502639A (en) * | 1990-08-10 | 1996-03-26 | Matsushita Electric Industrial Co., Ltd. | Controlling apparatus of steering angle of rear wheels of four-wheel steering vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2805341B2 (en) | 1998-09-30 |
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