JPH0353976Y2 - - Google Patents
Info
- Publication number
- JPH0353976Y2 JPH0353976Y2 JP1984170666U JP17066684U JPH0353976Y2 JP H0353976 Y2 JPH0353976 Y2 JP H0353976Y2 JP 1984170666 U JP1984170666 U JP 1984170666U JP 17066684 U JP17066684 U JP 17066684U JP H0353976 Y2 JPH0353976 Y2 JP H0353976Y2
- Authority
- JP
- Japan
- Prior art keywords
- steering angle
- wheel steering
- rear wheel
- vehicle speed
- wheels
- 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
Links
- 238000001514 detection method Methods 0.000 claims description 17
- 230000004044 response Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 8
- 239000003921 oil Substances 0.000 description 6
- 239000010720 hydraulic oil Substances 0.000 description 3
- 230000004043 responsiveness Effects 0.000 description 2
- 230000007423 decrease Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
Landscapes
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
Description
【考案の詳細な説明】
〔産業上の利用分野〕
本考案は、車両の後輪を前輪の操舵状態に応じ
て操舵し得る前後輪操舵車における後輪操舵制御
装置に関する。[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a rear wheel steering control device for a front and rear wheel steered vehicle capable of steering the rear wheels of the vehicle according to the steering state of the front wheels.
前後輪操舵車の一形式として、後輪操舵用アク
チユエータを前輪の操舵状態に応じて駆動するこ
とにより後輪を操舵する前後輪操舵車が特開昭57
−11173号公報に示されている。
As a type of front and rear wheel steered vehicle, a front and rear wheel steered vehicle that steers the rear wheels by driving a rear wheel steering actuator according to the steering state of the front wheels was developed in Japanese Patent Laid-Open No. 57
This is shown in Publication No.-11173.
しかして、かかる前後輪操舵車においては、低
速時の小回り性能および高速時の操安性を向上さ
せるため、後輪を前輪に対して低速時には逆相に
操舵するとともに車速に応じて漸次同相側へ操舵
するように構成されている。 In such front and rear wheel steered vehicles, in order to improve small turning performance at low speeds and maneuverability at high speeds, the rear wheels are steered in the opposite phase relative to the front wheels at low speeds, and gradually move toward the same phase as the vehicle speed increases. It is configured to steer to.
ところで、小舵角操舵走行時、運転者は進行方
向に対する自車の対向方向のずれおよび横方向の
ずれを感知しながら進路を保持すべく修正操舵を
行うが、特に対向方向のずれに重きを置いて修正
操舵量を決定しているのが実情である。
By the way, when driving with a small steering angle, the driver performs corrective steering to maintain the course while sensing the deviation of the own vehicle in the oncoming direction and the deviation in the lateral direction with respect to the direction of travel. The reality is that the corrective steering amount is determined based on the above.
このため、上記した前後輪操舵車のごとく高速
時前輪舵角の如何にかかわらず後輪が前輪に対し
て同相側へ操舵されるとヨーイングに対する応答
性が低下し、運転者は自車の対向方向のずれを感
知しずらくこのため修正操舵量を決定しずらくな
る。 For this reason, when the rear wheels are steered to the same phase side with respect to the front wheels at high speeds, such as in the case of the front-wheel steered vehicle mentioned above, regardless of the front wheel steering angle, the response to yawing decreases, and the driver is forced to move toward the oncoming vehicle. It is difficult to sense a deviation in direction, which makes it difficult to determine a corrective steering amount.
本考案はかかる問題に対処すべき後輪操舵制御
装置であり、当該制御装置は車速を検出してその
検出信号を発生する第１検出手段および前輪の舵
角を検出してその検出信号を発生する第２検出手
段と、これら各検出手段から付与される検出信号
に応答して前輪に対する後輪の操舵を前輪舵角が
所定の小舵角未満では車速に無関係に逆相側とな
しかつ前輪舵角が所定の値以上では車速に応じて
漸次同相側とするように後輪操舵用アクチユエー
タを駆動する制御信号を発生する制御手段を備え
たことにその構成上の特徴がある。
The present invention is a rear wheel steering control device that should deal with such problems, and the control device includes a first detection means that detects the vehicle speed and generates a detection signal thereof, and a first detection means that detects the steering angle of the front wheels and generates the detection signal. and a second detection means for controlling the steering of the rear wheels relative to the front wheels in response to the detection signals given from each of these detection means, regardless of the vehicle speed, when the front wheel steering angle is less than a predetermined small steering angle. Its structural feature is that it includes a control means that generates a control signal that drives the rear wheel steering actuator so that when the steering angle is greater than a predetermined value, the rear wheel steering actuator is gradually brought to the same phase side in accordance with the vehicle speed.
このように構成した本考案の後輪操舵制御装置
によれば、前輪舵角が所定の小舵角以上において
は低速時の小回り性能および高速時の操安性を従
来と同様に向上させることができ、また小舵角操
舵走行時には後輪は車速の如何にかかわらず前輪
に対して逆相に操舵されるためヨーイングに対す
る応答性を増大させることができ、運転者は進行
方向に対する自車の対向方向のずれを容易に感知
してその修正操舵量を容易に決定することができ
る。
According to the rear wheel steering control device of the present invention configured as described above, when the front wheel steering angle is equal to or greater than a predetermined small steering angle, it is possible to improve the small turning performance at low speeds and the steering stability at high speeds as before. In addition, when driving with small steering angle, the rear wheels are steered in the opposite phase to the front wheels regardless of the vehicle speed, increasing responsiveness to yawing, and the driver can control the direction of the vehicle's oncoming direction. It is possible to easily sense the direction deviation and easily determine the corrective steering amount.
以下、本考案を図面に基づいて説明するに、第
１図には本考案の一実施例に係る後輪操舵制御装
置を備えた前後輪操舵車の概略構成が示されてい
る。かかる車両において、後輪１１は前輪１２の
操舵状態に応じて操舵されるもので、各後輪１１
はナツクルアーム１３を介して各タイロツド１４
にそれぞれ連結されている。また、各タイロツド
１４はそれらの内端にて油圧アクチユエータ２０
ａに連結されている。油圧アクチユエータ２０ａ
は後輪操舵制御装置を構成する一機器であり、油
圧アクチユエータ２０ａを構成するピストンロツ
ド２１の各端部が各タイロツド１４に連結され、
かつ油圧アクチユエータ２０ａを構成するシリン
ダ２２の各油室２２ａ，２２ｂが給排油路２３
ａ，２３ｂおよび後述するサーボ弁２０ｂを介し
て油圧ポンプ２０ｃおよびリザーバ２０ｄに選択
的に連通する。これにより、油圧アクチユエータ
２０ａにおいてはシリンダ２２の各油室２２ａ，
２２ｂに対して作動油の給排が選択的になされ、
作動油が左側の油室２２ａに供給されるとピスト
ンロツド２１が右動して後輪１１を左方へ操舵
し、また右側の油室２２ｂに供給されるとピスト
ンロツド２１が左動して後輪１１を右方へ操舵す
る。しかして、後輪操舵制御装置は上記した油圧
機構以外に、サーボ弁２０ｂを駆動制御する電気
的制御機構を備えている。電気的制御機構はコン
トローラ３１、差動増幅器３２および増幅器３３
と、前輪１２の操舵角βfを検出してその検出信号
を発生する前輪舵角センサ３４、車速ｕを検出し
てその検出信号を発生する車速センサ３５および
後輪１１の操舵角βを検出してその検出信号を発
生する後輪舵角センサ３６とによつて構成されて
いる。
Hereinafter, the present invention will be explained based on the drawings. FIG. 1 shows a schematic configuration of a front and rear wheel steered vehicle equipped with a rear wheel steering control device according to an embodiment of the present invention. In such a vehicle, the rear wheels 11 are steered according to the steering state of the front wheels 12, and each rear wheel 11
connects each tie rod 14 via the nutcle arm 13.
are connected to each other. Each tie rod 14 also has a hydraulic actuator 20 at its inner end.
connected to a. Hydraulic actuator 20a
is one device constituting a rear wheel steering control device, each end of a piston rod 21 constituting a hydraulic actuator 20a is connected to each tie rod 14,
In addition, each oil chamber 22a, 22b of the cylinder 22 constituting the hydraulic actuator 20a is connected to an oil supply/drainage path 23.
It selectively communicates with a hydraulic pump 20c and a reservoir 20d via a, 23b and a servo valve 20b, which will be described later. As a result, in the hydraulic actuator 20a, each oil chamber 22a of the cylinder 22,
Hydraulic oil is selectively supplied and discharged to and from 22b,
When hydraulic oil is supplied to the left oil chamber 22a, the piston rod 21 moves to the right to steer the rear wheel 11 to the left, and when hydraulic oil is supplied to the right oil chamber 22b, the piston rod 21 moves to the left to steer the rear wheel 11. Steer 11 to the right. In addition to the above-mentioned hydraulic mechanism, the rear wheel steering control device includes an electric control mechanism that drives and controls the servo valve 20b. The electrical control mechanism includes a controller 31, a differential amplifier 32, and an amplifier 33.
A front wheel steering angle sensor 34 detects the steering angle βf of the front wheels 12 and generates a detection signal thereof, a vehicle speed sensor 35 detects the vehicle speed u and generates a detection signal thereof, and a front wheel steering angle sensor 35 detects the steering angle β of the rear wheels 11. and a rear wheel steering angle sensor 36 that generates a detection signal thereof.
コントローラ３１は第２図に示すように、前輪
舵角センサ３４および車速センサ３５から付与さ
れる第１信号および第２信号の各値を取込むため
の入力インターフエイス３１ａと、差動増幅器３
２に演算結果を出力するための出力インターフエ
イス３１ｂと、中央演算処理回路（CPU）３１
ｃと、読出し専用メモリ（ROM）３１ｄと、書
込み可能メモリ（RAM）３１ｅと、これらを共
通に接続するバス３１ｆとにより構成されてい
る。かかるコントローラ３１において読出し専用
メモリ３１ｄには第３図ａ，ｂに示す特性線が記
憶されており、また中央演算処理回路３１ｄは第
４図のフローチヤートにより示したプログラムの
演算を実行する。 The controller 31, as shown in FIG.
an output interface 31b for outputting calculation results to 2, and a central processing circuit (CPU) 31
31d, a read-only memory (ROM) 31d, a writable memory (RAM) 31e, and a bus 31f that commonly connects these. In the controller 31, the read-only memory 31d stores the characteristic lines shown in FIGS. 3a and 3b, and the central processing circuit 31d executes the calculations of the program shown in the flowchart of FIG.
第３図ａには、前輪舵角βfおよび車速ｕに対す
る後輪舵角βrの特性線図が示されており、同特性
線図においては、前輪舵角βfが小さい時には後輪
舵角βrが車速ｕに関係なくβr＝koβf（ko＜ｏ：前
輪に対して逆相）で操舵される。また、前輪舵角
βfが所定の小舵角｜αo｜以上になると、βr＝ｋ
（βf−α）＋koαo（但しｋは車速によつて決定され
る定数で、定性的には低速時ｋ＜ｏ、高速時ｋ＞
ｏである）で操舵される。第３図ｂには、前輪舵
角βf≧｜αo｜の場合の車速ｕに対するｋ＝βr／
βfの特性線図が示されており、同特性線図におい
ては後輪１１は前輪１２に対して低速時には逆相
で、車速に応じて漸次同相側に操舵される。 FIG. 3a shows a characteristic diagram of the rear wheel steering angle βr with respect to the front wheel steering angle βf and the vehicle speed u. In the characteristic diagram, when the front wheel steering angle βf is small, the rear wheel steering angle βr is Regardless of the vehicle speed u, the vehicle is steered by βr=koβf (ko<o: opposite phase to the front wheels). Furthermore, when the front wheel steering angle βf exceeds the predetermined small steering angle |αo|, βr=k
(βf - α) + koαo (where k is a constant determined by the vehicle speed, qualitatively k<o at low speeds, k> at high speeds)
o). In Fig. 3b, k=βr/ for vehicle speed u when front wheel steering angle βf≧|αo|
A characteristic diagram of βf is shown, and in the characteristic diagram, the rear wheels 11 are in opposite phase to the front wheels 12 at low speeds, and are gradually steered to the same phase side according to the vehicle speed.
このように構成した後輪操舵制御装置において
は、エンジンの始動時イグニツシヨンスイツチの
操作によりコントローラ３１が初期化され、第４
図に示したプログラムの実行が開始される。 In the rear wheel steering control device configured in this way, the controller 31 is initialized by operating the ignition switch when starting the engine, and the
Execution of the program shown in the figure begins.
しかして、プログラムがステツプ１０１に進む
と前輪舵角センサ３４から付与される第１信号に
より前輪舵角βfが取込まれるとともに、ステツプ
１０２にて車速センサ３５から付与される第２信
号により車速ｕが取込まれ、その後ステツプ１０
３にて前輪舵角βfの大小が判別される。かくし
て、前輪舵角βfが｜αo｜より小さい場合にはス
テツプ１０４に移行して前輪舵角βfに対する後輪
舵角βrが決定され、この信号が差動増幅器３２に
付与される。この差動増幅器３２においては、後
輪舵角センサ３６で検出された後輪実操舵角βro
に対応する電圧とコントローラ３１からの後輪演
算操舵角βrに対応する電圧との差（βr−βro）を
増幅器３３に出力し、増幅された（βr−βro）を
制御信号としてサーボ弁２０ｂが制御されて後輪
１１が操舵される。前輪舵角βfが｜αo｜より小
さい場合には上記サイクルが繰返し行われ、後輪
１１はβr＝koβfの関係にて操舵される。 When the program proceeds to step 101, the front wheel steering angle βf is taken in by the first signal given from the front wheel steering angle sensor 34, and at the same time, in step 102, the vehicle speed u is taken in by the second signal given from the vehicle speed sensor 35. is captured and then step 10
3, the magnitude of the front wheel steering angle βf is determined. Thus, if the front wheel steering angle βf is smaller than |αo|, the process moves to step 104, where the rear wheel steering angle βr is determined relative to the front wheel steering angle βf, and this signal is applied to the differential amplifier 32. In this differential amplifier 32, the rear wheel actual steering angle βro detected by the rear wheel steering angle sensor 36 is
The difference (βr - βro) between the voltage corresponding to The rear wheels 11 are steered under the control. When the front wheel steering angle βf is smaller than |αo|, the above cycle is repeated, and the rear wheels 11 are steered with the relationship βr=koβf.
一方、前輪舵角βfが｜αo｜以上の場合には、
ステツプ１０５にて車速Ｕに対するｋ＝βr／βfが
決定され、ステツプ１０６にて前輪舵角βfが正か
負か、すなわち操舵方向が右か左かが判断され
る。その後、ステツプ１０７またはステツプ１０
８を経てステツプ１０９にて前輪舵角βfに対する
後輪舵角βrが車速に応じて決定される。この信号
は作動増幅器３２に付与され、その後は前記した
と同様にサーボ弁２０ｂが制御されて後輪１１が
操舵される。前輪舵角βfが｜αo｜以上の場合に
は上記サイクルが繰返し行われ、後輪１１はβr＝
ｋ（βf−α）＋koαoの関係にて操舵される。 On the other hand, when the front wheel steering angle βf is greater than |αo|,
In step 105, k=βr/βf for the vehicle speed U is determined, and in step 106, it is determined whether the front wheel steering angle βf is positive or negative, that is, whether the steering direction is right or left. Then step 107 or step 10
8, and in step 109, the rear wheel steering angle βr relative to the front wheel steering angle βf is determined in accordance with the vehicle speed. This signal is applied to the differential amplifier 32, and thereafter the servo valve 20b is controlled in the same manner as described above to steer the rear wheels 11. When the front wheel steering angle βf is equal to or greater than |αo|, the above cycle is repeated, and the rear wheels 11 have βr=
It is steered according to the relationship k(βf−α)+koαo.
このように、本実施例においては、前輪舵角βf
が所定の小舵角｜αo｜以上の場合には、後輪１
１は前輪１２に対して低速時には逆相で車速Ｕに
応じて漸次同相側へ操舵されるため、低速時の小
回り性能および高速時の操安性がよい。また、前
輪舵角βfが所定の小舵角｜αo｜未満の場合には、
後輪１１は車速ｕに如何にかかわらず前輪１２に
対して前輪舵角βfに応じて逆相に操舵されるため
ヨーイングに対する応答性が増大し、運転者は進
行方向に対する自車の対向方向のずれを容易に感
知して、その修正操舵量を容易に決定することが
できる。 In this way, in this embodiment, the front wheel steering angle βf
is greater than the predetermined small steering angle |αo|, the rear wheel 1
Since the front wheels 1 are in opposite phase to the front wheels 12 at low speeds and are gradually steered toward the same phase side according to the vehicle speed U, the turning performance at low speeds and the steering stability at high speeds are good. Furthermore, if the front wheel steering angle βf is less than the predetermined small steering angle |αo|,
Regardless of the vehicle speed u, the rear wheels 11 are steered in the opposite phase relative to the front wheels 12 according to the front wheel steering angle βf, so the responsiveness to yawing increases, and the driver can check the direction of the vehicle in the opposite direction with respect to the direction of travel. The deviation can be easily sensed and the corrective steering amount can be easily determined.
第１図は本考案の一実施例に係る後輪操舵制御
装置を備えた前後輪操舵車の概略構成図、第２図
は同装置が有するコントローラの概略構成図、第
３図ａは前輪舵角βfに対する後輪舵角βrの特性線
図、第３図ｂは車速ｕに対するｋ（βr／βf）の特
性線図、第４図はコントローラのプログラムを示
すフローチヤートである。
符号の説明、１１……後輪、２０ａ……油圧ア
クチユエータ、２１……ピストンロツド、２２
ａ，２２ｂ……油室、２０ｂ……サーボ弁、３１
……コントローラ、３４……前輪舵角センサ、３
５……車速センサ、３６……後輪舵角センサ。
FIG. 1 is a schematic configuration diagram of a front and rear wheel steering vehicle equipped with a rear wheel steering control device according to an embodiment of the present invention, FIG. 2 is a schematic configuration diagram of a controller included in the device, and FIG. 3a is a front wheel steering vehicle. FIG. 3b is a characteristic diagram of the rear wheel steering angle βr with respect to the angle βf, FIG. 3b is a characteristic diagram of k(βr/βf) with respect to the vehicle speed u, and FIG. 4 is a flowchart showing the controller program. Explanation of symbols, 11...Rear wheel, 20a...Hydraulic actuator, 21...Piston rod, 22
a, 22b...Oil chamber, 20b...Servo valve, 31
... Controller, 34 ... Front wheel steering angle sensor, 3
5... Vehicle speed sensor, 36... Rear wheel steering angle sensor.
Claims (1)
操舵車における後輪操舵制御装置であり、当該制
御装置は、車速を検出してその検出信号を発生す
る第１検出手段および前輪の舵角を検出してその
検出信号を発生する第２検出手段と、これら各検
出手段から付与される検出信号に応答して前輪に
対する後輪の操舵を前輪舵角が所定の小舵角未満
では車速に無関係に逆相側となしかつ前輪舵角が
所定の値以上では車速に応じて漸次同相側とする
ように後輪操舵用アクチユエータを駆動する制御
信号を発生する制御手段を備えたことを特徴とす
る前後輪操舵車における後輪操舵制御装置。 This is a rear wheel steering control device for a front and rear wheel steered vehicle that steers the rear wheels according to the steering state of the front wheels, and the control device includes a first detection device that detects vehicle speed and generates a detection signal thereof, and a steering angle of the front wheels. a second detection means for detecting and generating a detection signal thereof; and a second detection means for detecting the steering angle of the rear wheels relative to the front wheels in response to the detection signals provided from each of the detection means, for controlling the steering of the rear wheels relative to the front wheels to the vehicle speed when the front wheel steering angle is less than a predetermined small steering angle. The present invention is characterized by comprising a control means for generating a control signal for driving the rear wheel steering actuator so that the rear wheel steering actuator is not set to the opposite phase side regardless of the vehicle speed, and when the front wheel steering angle exceeds a predetermined value, the rear wheel steering actuator is gradually set to the same phase side in accordance with the vehicle speed. Rear wheel steering control device for front and rear wheel steered vehicles.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1984170666U JPH0353976Y2 (en) | 1984-11-09 | 1984-11-09 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1984170666U JPH0353976Y2 (en) | 1984-11-09 | 1984-11-09 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS6185576U JPS6185576U (en) | 1986-06-05 |
| JPH0353976Y2 true JPH0353976Y2 (en) | 1991-11-27 |
Family
ID=30728375
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1984170666U Expired JPH0353976Y2 (en) | 1984-11-09 | 1984-11-09 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0353976Y2 (en) |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5977971A (en) * | 1982-10-28 | 1984-05-04 | Mazda Motor Corp | Four-wheel steering gear for vehicle |
-
1984
- 1984-11-09 JP JP1984170666U patent/JPH0353976Y2/ja not_active Expired
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5977971A (en) * | 1982-10-28 | 1984-05-04 | Mazda Motor Corp | Four-wheel steering gear for vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS6185576U (en) | 1986-06-05 |
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