JPH046595B2 - - Google Patents
Info
- Publication number
- JPH046595B2 JPH046595B2 JP58232386A JP23238683A JPH046595B2 JP H046595 B2 JPH046595 B2 JP H046595B2 JP 58232386 A JP58232386 A JP 58232386A JP 23238683 A JP23238683 A JP 23238683A JP H046595 B2 JPH046595 B2 JP H046595B2
- Authority
- JP
- Japan
- Prior art keywords
- steering
- yaw rate
- front wheel
- wheel steering
- vehicle
- 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 - Lifetime
Links
- 230000001133 acceleration Effects 0.000 claims description 12
- 238000005259 measurement Methods 0.000 claims 1
- 239000003921 oil Substances 0.000 description 8
- 239000010720 hydraulic oil Substances 0.000 description 5
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 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
- B62D7/15—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
- B62D7/159—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 computing methods or stabilisation processes or systems, e.g. responding to yaw rate, lateral wind, load, road condition
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Theoretical 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)
Description
【発明の詳細な説明】
本発明は車両の操舵制御装置に関し、更に詳し
くは車体の目標ヨーレートに応じた最適の後輪操
舵を行う車両の操舵制御装置に関する。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a vehicle steering control device, and more particularly to a vehicle steering control device that performs optimal rear wheel steering according to a target yaw rate of a vehicle body.
例えば、４輪型車両が旋回する場合には、前後
輪とも外輪のほうが内輪よりも長い距離を進むこ
とになり、外輪を内輪よりもそれだけ早く回転さ
せてやらねばならない。また、旋回半径が小さく
なるほど内輪、外輪の上記回転の速度差が大きく
なる。一方、駆動力が伝えられる内外の後輪を一
本の車輪に固定したとすれば、この内外輪は常に
同一回転速度となるので、車両旋回時に内輪が旋
回半径差だけすべりながら回転し、内外輪支持部
材等に無理な力が作用し、円滑な旋回ができなく
なる。 For example, when a four-wheeled vehicle turns, the outer wheels of both the front and rear wheels travel a longer distance than the inner wheels, and the outer wheels must be rotated faster than the inner wheels. Further, as the turning radius becomes smaller, the difference in speed between the rotations of the inner ring and the outer ring becomes larger. On the other hand, if the inner and outer rear wheels that transmit driving force are fixed to one wheel, the inner and outer wheels will always have the same rotational speed, so when the vehicle turns, the inner wheel will rotate while sliding by the difference in turning radius, causing the inner and outer wheels to rotate at the same speed. Unreasonable force acts on the wheel support member, etc., making it impossible to turn smoothly.
このため、今日では後輪側の内外輪を２分し、
これらの間に差動機を介在し、旋回時に路面の内
外輪に対する接触抵抗の差によつて、プロペラシ
ヤフトの回転を内外輪にそれぞれ異る割合で伝え
る様にして、無理なく円滑な旋回動作が行える様
にしている。しかし、この場合には接地抵抗の少
さい車輪のみが回転し、他方の車輪には全く回転
力が作用しなくなるという欠点がある。 For this reason, today the inner and outer rings on the rear wheel side are divided into two,
A differential is interposed between these, and the rotation of the propeller shaft is transmitted to the inner and outer wheels at different rates depending on the difference in contact resistance between the inner and outer wheels on the road surface during turning, allowing for effortless and smooth turning operation. I'm trying to do it. However, in this case, only the wheel with low ground resistance rotates, and no rotational force acts on the other wheel, which is a drawback.
また、前輪操舵系と後輪操舵系とをリンク機構
を介して連繋し、前輪操舵に応じて後輪操舵角を
一義的に設定しうる様にした操舵装置が、例えば
特開昭58−112875号等に於いて提供されている。 Further, there is a steering device in which a front wheel steering system and a rear wheel steering system are linked via a link mechanism so that the rear wheel steering angle can be uniquely set according to the front wheel steering, for example, in Japanese Patent Laid-Open No. 58-112875. It is provided in the issue.
しかしながら、この操舵装置では、リンクによ
る連繋構造のため、常に変化する車速や操舵角等
に応じた後輪の最適操舵角を得ることができな
い。つまり、後輪が前輪とは独立して操舵できな
いため、スリツプを生じたり、車両の旋回半径を
小さくする様な後輪操舵ができないという欠点が
あつた。 However, in this steering device, because of the link structure, it is not possible to obtain the optimum steering angle of the rear wheels in accordance with constantly changing vehicle speed, steering angle, etc. In other words, since the rear wheels cannot be steered independently of the front wheels, there have been drawbacks such as slippage or the inability to steer the rear wheels to reduce the turning radius of the vehicle.
本発明はかかる従来の欠点に着目してなされた
ものであり、車速、操舵角等に基づいて設定した
ヨーレートを目標値として、これに合う様に後輪
操舵を行い、前輪操舵に応じた後輪の適正舵角を
得て、後輪が前輪と同一軌跡を辿る様にした車両
の操舵制御装置を提供することを目的とする。 The present invention has been made by focusing on the drawbacks of the conventional technology, and uses a yaw rate set based on vehicle speed, steering angle, etc. as a target value, performs rear wheel steering to match the target value, and after adjusting the front wheel steering in response to the front wheel steering. It is an object of the present invention to provide a steering control device for a vehicle that allows the rear wheels to follow the same trajectory as the front wheels by obtaining an appropriate steering angle of the wheels.
そしてこの目的達成のために、本発明は車速、
前輪の操舵角、操舵角速度および操舵角加速度に
応じて後輪の最適操舵を可能とする複数の目標ヨ
ーレートデータを記憶するメモリと、現在の車
速、前輪の操舵角、前輪の角速度および操舵角加
速度に応じて上記メモリから特定の設定ヨーレー
トを検索演算する検索演算部と、その検索した設
定ヨーレートを入力データとしてこの設定ヨーレ
ートに応じた後輪操舵を行うアクチユエータとを
備えた構成としたものである。 To achieve this objective, the present invention provides vehicle speed,
A memory that stores multiple target yaw rate data that enables optimal steering of the rear wheels according to the front wheel steering angle, steering angular velocity, and steering angular acceleration, as well as the current vehicle speed, front wheel steering angle, front wheel angular velocity, and steering angular acceleration. The vehicle is configured to include a search calculation unit that retrieves and calculates a specific set yaw rate from the memory in accordance with the set yaw rate, and an actuator that uses the searched set yaw rate as input data to perform rear wheel steering according to the set yaw rate. .
以下に、本発明の実施例を図面について具体的
に説明する。 Embodiments of the present invention will be specifically described below with reference to the drawings.
第１図はその一実施例の操舵制御装置のブロツ
ク接続図である。同図に於いて、１はコンピユー
タの検索演算回路で、この検索演算回路１には車
速センサ２、前輪の操舵角センサ３、同じく操舵
角速度センサ４および操舵角加速度センサ５が接
続され、これらの各センサ入力に基づいて後述の
メモリ６に記憶された目標ヨーレートデータの中
から適当なものを検索演算して出力する様になつ
ている。 FIG. 1 is a block connection diagram of a steering control device according to one embodiment. In the figure, 1 is a search calculation circuit of a computer, and a vehicle speed sensor 2, a front wheel steering angle sensor 3, a steering angular velocity sensor 4, and a steering angular acceleration sensor 5 are connected to this search calculation circuit 1. Based on each sensor input, appropriate target yaw rate data is searched for and output from target yaw rate data stored in a memory 6, which will be described later.
上記メモリ６には操舵時に於ける前輪軌跡に後
輪軌跡を一致せしめるための最適の目標ヨーレー
トのデータが、車速、前輪操舵角、前輪操舵角速
度および前輪操舵角加速度に応じた基準データと
して予め複数種類記憶されている。これらの目標
ヨーレートは、実測した上記車速等のセンサ出力
に基づいて適当なものが検索演算回路１に於いて
検索され、設定ヨーレートとして出力される。 The memory 6 stores a plurality of optimal target yaw rate data for matching the front wheel trajectory to the rear wheel trajectory during steering as reference data corresponding to vehicle speed, front wheel steering angle, front wheel steering angular velocity, and front wheel steering angular acceleration. The type is memorized. These target yaw rates are searched for in the search calculation circuit 1 based on sensor outputs such as the actually measured vehicle speed, and outputted as the set yaw rate.
７は目標ヨーレートの中から選ばれた設定ヨー
レートデータに基づき、後輪操舵用アクチユエー
タ８を駆動すべき電圧やパルス電流に変換出力す
る出力回路である。なお、上記後輪操舵用アクチ
ユエータ８として油圧によるパワステアリングシ
リンダ装置等が用いられる。なお、この操舵用ア
クチユエータ８は後輪操舵用のほか、前輪のキヤ
ンバ角、トーイン角あるいはキヤスター角の調整
用アクチユエータ用として複数を併設することも
でき、こうすることにより車速や操舵に応じた車
両の走行安定性を確保することができる。 Reference numeral 7 denotes an output circuit that converts and outputs a voltage or pulse current to drive the rear wheel steering actuator 8 based on set yaw rate data selected from the target yaw rates. Note that a hydraulic power steering cylinder device or the like is used as the rear wheel steering actuator 8. In addition to the steering actuator 8 for rear wheels, a plurality of actuators for adjusting the camber angle, toe-in angle, or caster angle of the front wheels can also be installed, and by doing so, the vehicle can be adjusted according to the vehicle speed and steering. It is possible to ensure running stability.
９は検索演算回路１と出力回路７との間に接続
した比較器で、これには上記の設定ヨーレート
Yのほか実測したヨーレートΨYが入力され、こ
れらの比較出力によつて出力回路７を駆動する。
なお、実測した路面の影響によるヨーレートΨY
の最大値を比較器９の出力側で検出し、これを点
線で示す如く検索演算回路１に入力して補正演算
を行えば、メモリ６に記憶させる目標ヨーレート
Yの設定変更を行うことができる。 9 is a comparator connected between the search calculation circuit 1 and the output circuit 7;
In addition to Y, the actually measured yaw rate Ψ Y is input, and the output circuit 7 is driven by these comparison outputs.
In addition, the yaw rate Ψ Y due to the influence of the actually measured road surface
The maximum value of is detected at the output side of the comparator 9, and this is input to the search calculation circuit 1 as shown by the dotted line to perform a correction calculation, then the target yaw rate stored in the memory 6 can be determined.
Y settings can be changed.
第２図は上記した操舵用アクチユエータ８とし
ての後輪側パワステアリングシリンダを有する車
両を概略的に示す。同図に於いて、１１は一対の
前輪で、シヤフト１２に連繋するタイロツド１３
端に連繋した一対のナツクルアーム１４に支持さ
れている。上記シヤフト１２の各端部にはシリン
ダ１５内を摺動するパワーピストン（図示しな
い）が固定されており、このパワーピストンによ
りシリンダ１５内に隔成した２つの油室に、タン
ク１６からの作動油をポンプ１７により選択的に
供給することによつて、ハンドル１８操舵時に操
舵の助勢力を発生させ、タイロツド１３を右方ま
たは右方に軽快に移動させ、前輪操舵が行われる
様になつている。 FIG. 2 schematically shows a vehicle having a rear wheel side power steering cylinder as the steering actuator 8 described above. In the figure, 11 is a pair of front wheels, and a tie rod 13 is connected to the shaft 12.
It is supported by a pair of knuckle arms 14 connected to the ends. A power piston (not shown) that slides within the cylinder 15 is fixed to each end of the shaft 12, and this power piston supplies the two oil chambers separated within the cylinder 15 with actuation from the tank 16. By selectively supplying oil with the pump 17, a steering assisting force is generated when the steering wheel 18 is steered, and the tie rod 13 is easily moved to the right or to the right, so that front wheel steering can be performed. There is.
また、１９は一対の後輪で、シヤフト２０に連
繋する一対のタイロツド２１端にはナツクルアー
ム２２が枢支され、このナツクルアーム２２に上
記後輪１９が支持されている。２３は後輪操舵機
構で、シヤフト２０にはコンロツド２４を介して
クランク２５が連結され、このクランク２５端が
パワステアリングシリンダ２６内を摺動するパワ
ーピストン（図示しない）に連繋している。そし
てこのパワーピストンによりシリンダ２６内に隔
成した２つの油室に、作動油を選択的に供給する
ことによつて、前輪とは独立した操舵が可能とな
り、このとき上記と同様の操舵助勢力を得ること
になる。 Reference numeral 19 denotes a pair of rear wheels, and a knuckle arm 22 is pivotally supported at the ends of a pair of tie rods 21 connected to a shaft 20, and the rear wheels 19 are supported by this knuckle arm 22. 23 is a rear wheel steering mechanism, and a crank 25 is connected to the shaft 20 via a connecting rod 24, and the end of the crank 25 is connected to a power piston (not shown) that slides within a power steering cylinder 26. By selectively supplying hydraulic oil to the two oil chambers separated in the cylinder 26 by this power piston, it becomes possible to steer the wheels independently of the front wheels, and at this time, the same steering assist force as described above becomes possible. You will get .
２７，２８は油圧ポンプ１７と上記シリンダ２
６の２つの油室とを結ぶ油路２９の途中に入れた
方向制御弁およびパルス作動弁としての流量制御
弁であり、これらが上記出力回路７の出力によつ
て駆動されるアクチユエータ８の一部をなす。そ
して方向制御弁２７は上記パワーピストンによつ
て隔成した２油室に作動油を供給したり、２油室
から作動油をタンク３０にドレンしたりする様に
切り換わる。また、流量制御弁２８はパルスデユ
ーテイに応じた絞り動作をし、上記２油室への作
動油量をコントロールし、この作動油量を大きさ
によつて操舵量を自動的に選択できる様になつて
いる。 27 and 28 are the hydraulic pump 17 and the cylinder 2
A direction control valve and a flow rate control valve as a pulse-operated valve are inserted in the middle of the oil passage 29 connecting the two oil chambers 6 and 6, and these are part of the actuator 8 driven by the output of the output circuit 7. form a division. The directional control valve 27 is then switched to supply hydraulic oil to two oil chambers separated by the power piston, or to drain hydraulic oil from the two oil chambers into the tank 30. In addition, the flow control valve 28 performs a throttle operation according to the pulse duty to control the amount of hydraulic oil flowing into the two oil chambers, and the amount of steering can be automatically selected depending on the amount of hydraulic oil. ing.
次に、作用について述べる。 Next, we will discuss the effect.
車両走行中にあつて車体を旋回させるべくハン
ドル１８を回転すると、上記各センサ２乃至５か
ら現在の実測値である車速データ、前輪の操舵角
データ、同じく操舵角速度データおよび操舵角加
速度データがそれぞれ検索演算装置１に入力され
る。ここで、上記操舵角速度データおよび操舵角
加速度データは、前輪の走行軌跡に沿つて後輪を
辿らせるのに必要な要素であり、かかる要素をも
制御因子とする目標ヨーレードデータが、メモリ
６に格納してある。 When the steering wheel 18 is rotated to turn the vehicle while the vehicle is running, the sensors 2 to 5 transmit current actual measured values such as vehicle speed data, front wheel steering angle data, steering angular velocity data, and steering angular acceleration data, respectively. The information is input to the search calculation device 1. Here, the above-mentioned steering angular velocity data and steering angular acceleration data are elements necessary for causing the rear wheels to follow the traveling trajectory of the front wheels, and the target yaw rate data that also uses these elements as control factors is stored in the memory 6. It is stored in
こうして入力された各データは、これらのデー
タに最も近いかまたは完全に一致する車速等の基
準データに対応する目標ヨーレートの１つをメモ
リ６の中から演算することによつて検索し、これ
を設定ヨーレートYとして出力する。また、こ
の設定ヨーレートYは実測によるヨーレートΨY
と比較器９に於いて比較され、そのヨーレート差
に応じた信号を出力回路７に入力する。この出力
回路７はその信号をアクチユエータ８駆動用の信
号に変換し、このアクチユエータ８を、上記ヨー
レート差を零に縮めるべく、つまり目標ヨーレー
トにするための、最適後輪操舵角制御を行うこと
になる。かくして、車速、前輪の操舵角、操舵角
速度および操舵角加速度によつて予め定められた
ヨーレートを目標値として、これに合う様に後輪
操舵が行われるので、前輪の操舵角に応じた後輪
の操舵角制御が可能となり、前輪の軌跡と同一軌
跡上を後輪を走らせることができる様になる。か
くして、車両の旋回半径を可能な限り小さくで
き、後輪のスリツプやキシミの発生を防止して、
安全かつ安定した車両の旋回走行が可能となるも
のである。 Each data input in this way is retrieved by calculating one of the target yaw rates corresponding to reference data such as vehicle speed that is closest to or completely coincides with these data, and then retrieves this by calculating one of the target yaw rates from the memory 6. Output as setting yaw rate Y. Also, this setting yaw rate Y is the actually measured yaw rate Ψ Y
are compared in a comparator 9, and a signal corresponding to the yaw rate difference is input to an output circuit 7. This output circuit 7 converts the signal into a signal for driving the actuator 8, and controls the actuator 8 to perform optimal rear wheel steering angle control in order to reduce the above-mentioned yaw rate difference to zero, that is, to achieve the target yaw rate. Become. In this way, the rear wheels are steered to match the target value of the yaw rate, which is predetermined based on the vehicle speed, the front wheel steering angle, the steering angular velocity, and the steering angular acceleration. It becomes possible to control the steering angle, allowing the rear wheels to run on the same trajectory as the front wheels. In this way, the turning radius of the vehicle can be made as small as possible, preventing rear wheels from slipping or squeaking.
This enables safe and stable vehicle turning.
また、基準となる目標ヨーレートを、高度な技
術を有するドライバが実際運転によつて得た操舵
データとしてメモリ６に記憶させておけば、上記
車速入力等に応じてこの操舵データが選択された
場合に、初心者や老人でもその操舵データをプロ
グラムとする後輪の自動操舵運転が可能となるも
のである。 Furthermore, if the reference target yaw rate is stored in the memory 6 as steering data obtained through actual driving by a highly skilled driver, when this steering data is selected according to the vehicle speed input, etc. Furthermore, even beginners and elderly people can automatically steer the rear wheels using the steering data as a program.
以上説明した様に、本発明によれば、車速、前
輪の操舵角、前輪の操舵角速度および前輪の操舵
角加速度に応じて後輪の最適操舵を可能とする複
数の目標ヨーレートデータを記憶するメモリと、
現在の実測車速、前輪の操舵角、前輪の操舵角速
度および前輪の操舵角加速度に応じた上記目標ヨ
ーレートデータを上記メモリの中から検索演算す
ることによつて設定ヨーレートデータとして出力
する検索演算部と、この設定ヨーレートデータに
応じた後輪操舵制御を行うアクチユエータとを備
えてなることにより、後輪を前輪とは独立して操
舵可能となすことができ、目標ヨーレートに従つ
て前輪操舵に応じた後輪の適正操舵角を自動的に
得ることができるため、後輪を前輪と同一軌跡上
に走らせて、車両の旋回半径を小さくしたり、大
きなスリツプ発生に伴う車両後方の尼振り現象を
有効に防止できる等の効果が得られる。 As explained above, according to the present invention, a memory stores a plurality of target yaw rate data that enables optimal steering of the rear wheels according to the vehicle speed, the steering angle of the front wheels, the steering angular velocity of the front wheels, and the steering angular acceleration of the front wheels. and,
a search calculation unit that searches and calculates the target yaw rate data in accordance with the current measured vehicle speed, front wheel steering angle, front wheel steering angular velocity, and front wheel steering angular acceleration from the memory, and outputs the result as set yaw rate data; , and an actuator that performs rear wheel steering control according to the set yaw rate data, the rear wheels can be steered independently of the front wheels, and the rear wheels can be steered independently of the front wheels according to the target yaw rate. Since the appropriate steering angle for the rear wheels can be automatically obtained, the rear wheels can be run on the same trajectory as the front wheels to reduce the turning radius of the vehicle and to reduce the swaying phenomenon at the rear of the vehicle that occurs when large slips occur. It is possible to obtain effects such as being able to prevent
第１図は本発明の車両用操舵制御装置のブロツ
ク接続図、第２図は後輪操舵用アクチユエータの
油圧回路を示す。
１……検索演算装置、２……車速センサ、３…
…操舵角センサ、４……操舵角速度センサ、５…
…操舵角加速度センサ、６……メモリ、８……ア
クチユエータ、２１……タイロツド。
FIG. 1 shows a block connection diagram of a vehicle steering control system according to the present invention, and FIG. 2 shows a hydraulic circuit for a rear wheel steering actuator. 1...Search calculation device, 2...Vehicle speed sensor, 3...
...Steering angle sensor, 4...Steering angular velocity sensor, 5...
... Steering angle acceleration sensor, 6 ... Memory, 8 ... Actuator, 21 ... Tie rod.
Claims (1)
び前輪の操舵角加速度に応じて後輪の最適操舵を
可能とする複数の目標ヨーレートデータを記憶す
るメモリと、現在の実測車速、前輪の操舵角、前
輪の操舵角速度および前輪の操舵角加速度に応じ
た上記目標ヨーレートデータを上記メモリの中か
ら検索演算することによつて設定ヨーレートデー
タとして出力する検索演算部と、この設定ヨーレ
ートデータに応じた後輪操舵制御を行うアクチユ
エータとを備えてなることを特徴とする車両の操
舵制御装置。 ２ アクチユエータが後輪用タイロツドを作動す
るパワステアリングシリンダである特許請求の範
囲第１項に記載の車両の操舵制御装置。[Scope of Claims] 1. A memory that stores a plurality of target yaw rate data that enables optimal steering of the rear wheels according to vehicle speed, front wheel steering angle, front wheel steering angular velocity, and front wheel steering angular acceleration, and current actual measurement. a search calculation section that searches and calculates the target yaw rate data in accordance with the vehicle speed, front wheel steering angle, front wheel steering angular velocity, and front wheel steering angular acceleration from the memory and outputs the set yaw rate data; 1. A vehicle steering control device comprising: an actuator that performs rear wheel steering control according to yaw rate data. 2. The vehicle steering control device according to claim 1, wherein the actuator is a power steering cylinder that operates a rear wheel tie rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP58232386A JPS60124571A (en) | 1983-12-09 | 1983-12-09 | Steering controller for car |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP58232386A JPS60124571A (en) | 1983-12-09 | 1983-12-09 | Steering controller for car |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS60124571A JPS60124571A (en) | 1985-07-03 |
| JPH046595B2 true JPH046595B2 (en) | 1992-02-06 |
Family
ID=16938417
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP58232386A Granted JPS60124571A (en) | 1983-12-09 | 1983-12-09 | Steering controller for car |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS60124571A (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4706979A (en) * | 1985-07-12 | 1987-11-17 | Nissan Motor Co., Ltd. | Steering control system for wheeled vehicle |
| CA1320551C (en) * | 1987-03-09 | 1993-07-20 | Shuji Shiraishi | Yaw motion control device |
| JP2740176B2 (en) * | 1987-12-28 | 1998-04-15 | 日産自動車株式会社 | Vehicle rear wheel steering method |
| JPH0615342B2 (en) * | 1988-02-10 | 1994-03-02 | 富士重工業株式会社 | Rear wheel steering system |
| EP0460581B1 (en) * | 1990-06-04 | 1995-04-26 | Nippondenso Co., Ltd. | Signal processing circuit for yaw-rate sensor |
| JPH04126675A (en) * | 1990-09-18 | 1992-04-27 | Hino Motors Ltd | Rear-wheels steering device for semi-trailer |
| CN110196060A (en) * | 2016-01-25 | 2019-09-03 | 上海安吉四维信息技术有限公司 | A kind of working method of navigation system and vehicle based on Beidou |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5981274A (en) * | 1982-10-30 | 1984-05-10 | Mazda Motor Corp | 4-wheel steering device of vehicle |
-
1983
- 1983-12-09 JP JP58232386A patent/JPS60124571A/en active Granted
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5981274A (en) * | 1982-10-30 | 1984-05-10 | Mazda Motor Corp | 4-wheel steering device of vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS60124571A (en) | 1985-07-03 |
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