JPH0516552U - Four-wheel steering system - Google Patents
Four-wheel steering systemInfo
- Publication number
- JPH0516552U JPH0516552U JP7125291U JP7125291U JPH0516552U JP H0516552 U JPH0516552 U JP H0516552U JP 7125291 U JP7125291 U JP 7125291U JP 7125291 U JP7125291 U JP 7125291U JP H0516552 U JPH0516552 U JP H0516552U
- Authority
- JP
- Japan
- Prior art keywords
- steering angle
- rear wheel
- signal
- rudder angle
- wheel steering
- 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
Landscapes
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
(57)【要約】
【目的】上り坂と下り坂とでステアリング特性が大きく
変化しない様にする。
【構成】後輪基本舵角演算手段２は、前輪舵角センサ１
からの信号により、平坦路を走行する場合に後輪３に付
与する舵角の基本値を求め、後輪舵角演算手段８に送
る。後輪舵角補正値演算手段７は、車両傾斜検出手段６
からの信号により、後輪舵角補正値を求め、前記後輪舵
角演算手段８に送る。この後輪舵角演算手段８は、前記
基本値と後輪舵角補正値とにより、実際に後輪３に付与
する舵角を求める。そして、後輪転舵手段９が、後輪３
に舵角を付与する。
(57) [Summary] [Purpose] To prevent the steering characteristics from changing significantly between uphill and downhill. [Structure] The rear wheel basic rudder angle calculation means 2 is a front wheel rudder angle sensor 1
The basic value of the steering angle given to the rear wheels 3 when traveling on a flat road is obtained from the signal from and is sent to the rear wheel steering angle calculation means 8. The rear wheel steering angle correction value calculation means 7 is a vehicle inclination detection means 6
A rear wheel steering angle correction value is obtained from the signal from and is sent to the rear wheel steering angle calculation means 8. The rear wheel steering angle calculation means 8 calculates the steering angle actually given to the rear wheels 3 from the basic value and the rear wheel steering angle correction value. Then, the rear wheel steering means 9 causes the rear wheel 3
Give a steering angle to.
Description
【０００１】[0001]
この考案に係る四輪操舵装置は、自動車の操舵装置として利用し、自動車の進 路を変更する場合に、前輪だけでなく後輪の向きも変える事で、車両の回頭性の 向上や走行安定性を保てる様にするものである。 The four-wheel steering system according to the present invention is used as a steering system for an automobile, and when the course of the automobile is changed, not only the front wheels but also the rear wheels are turned to improve the turning performance of the vehicle and the traveling stability. It is something that keeps the sex.
【０００２】[0002]
山道等、屈曲した道を走行する際に車両の回頭性を向上させたり（車両の前部 が進行方向に向き易くしたり）、或は高速走行時に於ける進路変更でも車両の走 行安定性が保たれる様にする為、ステアリングホイールを操作した場合に、前輪 だけでなく後輪も動かす四輪操舵装置が、例えば特開昭６０−１７６８６７号公 報に開示されている様に、従来から広く知られており、又、近年に於いては実際 に使用される様になって来た。 Improves the turning ability of the vehicle when traveling on a curved road such as a mountain road (making it easy for the front part of the vehicle to point in the direction of travel), or stabilizing the vehicle's running even when the course is changed at high speed. A four-wheel steering system in which not only the front wheels but also the rear wheels are operated when the steering wheel is operated in order to maintain the steering force is disclosed in Japanese Patent Laid-Open Publication No. 60-176867, for example. It has been widely known by the company and has been actually used in recent years.
【０００３】 この様な四輪操舵装置の場合、前輪に付与された舵角に応じて後輪に、前輪と 逆方向（カーブへの進入時に回頭性を向上させる場合）の舵角を付与したり、或 は後輪に前輪と同じ方向（高速走行時の進路変更を安定させたり、カーブへの進 入後、コーナリングフォースを高める場合）の舵角を付与する。In the case of such a four-wheel steering system, the rear wheels are provided with a steering angle in the opposite direction to the front wheels (when improving the turning performance when entering a curve) in accordance with the steering angle provided to the front wheels. Or, give the rear wheels a steering angle in the same direction as the front wheels (when stabilizing the course change at high speeds, or when increasing cornering force after entering a curve).
【０００４】[0004]
ところが、上述の様な従来の四輪操舵装置に於いては、前輪に付与された舵角 （更には車速やヨーレート）と後輪に付与する舵角の大きさとは、車両が平坦路 を走行している状態を基準として定めていた為、坂道走行の際には、後輪に対し て必ずしも最適な舵角付与を行なえていないのが現状である。 However, in the conventional four-wheel steering system as described above, the steering angle applied to the front wheels (further, vehicle speed and yaw rate) and the steering angle applied to the rear wheels are determined by the vehicle traveling on a flat road. Since it was set as a standard, the present situation is that the optimum steering angle is not necessarily given to the rear wheels when driving on a slope.
【０００５】 例えば、車両が上り坂を走行している場合には、平坦路を走行している場合に 比べて後輪に対して大きな荷重が加わり、後輪に付与された舵角の影響が大きく 表われる。反対に、車両が下り坂を走行している場合には、平坦路を走行してい る場合に比べて後輪に対して加わる荷重が小さくなり、後輪に付与された舵角の 影響が表われにくくなる。For example, when the vehicle is traveling on an uphill, a larger load is applied to the rear wheels than when traveling on a flat road, and the influence of the steering angle applied to the rear wheels is affected. It appears greatly. On the contrary, when the vehicle is traveling downhill, the load applied to the rear wheels is smaller than when it is traveling on a flat road, and the influence of the steering angle applied to the rear wheels is shown. It becomes hard to be confused.
【０００６】 この為、従来の四輪操舵装置の場合、（通常の二輪操舵装置を組み込んだ車両 も同様であるが）下り坂を走行している場合に於けるステアリング特性と、上り 坂を走行している場合に於けるステアリング特性とに差が生じ、運転に不慣れな ドライバーにとっては、必ずしも扱い易いものではなかった。Therefore, in the case of the conventional four-wheel steering system, the steering characteristics when traveling downhill (as well as the vehicle incorporating the ordinary two-wheel steering system) and traveling uphill. The steering characteristics differ when the vehicle is in use, which is not always easy for a driver who is unfamiliar with driving.
【０００７】 本考案の四輪操舵装置は、上述の様な事情に鑑みて考案されたものである。The four-wheel steering system of the present invention was devised in view of the above-mentioned circumstances.
【０００８】[0008]
本考案の四輪操舵装置は、前輪に付与された舵角を検出する前輪舵角センサと 、この前輪舵角センサから送り込まれる前輪舵角信号に基づき、後輪に付与すべ き舵角の基本値を求めて後輪基本舵角信号として出力する、後輪基本舵角演算手 段と、車両の前後方向に亙る傾斜角度を測定する、車両傾斜検出手段と、この車 両傾斜検出手段から送り込まれる傾斜信号に基づき、後輪に付与すべき舵角の補 正値を求め、補正値信号として出力する、後輪舵角補正値演算手段と、前記後輪 基本舵角信号及び補正値信号に基づき、実際に後輪に付与する舵角を求め、後輪 舵角信号として出力する後輪舵角演算手段と、この後輪舵角信号に基づいて後輪 に舵角を付与する後輪転舵手段とから構成される。 The four-wheel steering system of the present invention is based on a front wheel steering angle sensor that detects the steering angle applied to the front wheels, and the basic steering angle that should be applied to the rear wheels based on the front wheel steering angle signal sent from the front wheel steering angle sensor. A rear wheel basic rudder angle calculation means for obtaining a value and outputting it as a rear wheel basic rudder angle signal, a vehicle inclination detection means for measuring the inclination angle of the vehicle in the front-rear direction, and the vehicle inclination detection means. The steering angle correction value calculation means for obtaining the correction value of the steering angle to be applied to the rear wheels based on the tilt signal and outputting it as the correction value signal, and the rear wheel basic steering angle signal and the correction value signal. Based on this, the steering angle actually applied to the rear wheels is calculated and output as a rear-wheel steering angle signal, and the rear-wheel steering that applies the steering angle to the rear wheels based on this rear-wheel steering angle signal. And means.
【０００９】[0009]
上述の様に構成される本考案の四輪操舵装置の場合、後輪に対しては車両の前 後方向に亙る傾斜角度を勘案した舵角が付与される。この為、上り坂を走行して いる場合のステアリング特性と、下り坂を走行している場合のステアリング特性 との間に大きな差が生じない。 In the case of the four-wheel steering system of the present invention configured as described above, the rear wheels are provided with a steering angle that takes into consideration the inclination angle in the front-rear direction of the vehicle. Therefore, a large difference does not occur between the steering characteristic when traveling uphill and the steering characteristic when traveling downhill.
【００１０】[0010]
図１は本考案の四輪操舵装置の制御部分を示すブロック図である。前輪に付与 された舵角を検出する前輪舵角センサ１からは前輪舵角信号Ａが送り出され、こ の前輪舵角信号Ａが、後輪基本舵角演算手段２に入力される。そして、この後輪 基本舵角演算手段２は、前記前輪舵角信号Ａに基づいて、後輪３に付与すべき舵 角の基本値を求める。この基本値は、車両が平坦路を走行していると仮定した場 合に、後輪３に付与する舵角である。前記後輪基本舵角演算手段２は、この様な 基本値を求めて、この基本値を表わす信号を、後輪基本舵角信号Ｂとして出力す る。 FIG. 1 is a block diagram showing a control portion of a four-wheel steering system of the present invention. The front wheel steering angle signal A is sent from the front wheel steering angle sensor 1 which detects the steering angle applied to the front wheels, and the front wheel steering angle signal A is input to the rear wheel basic steering angle calculation means 2. Then, the rear wheel basic rudder angle calculation means 2 obtains the basic value of the rudder angle to be given to the rear wheel 3 based on the front wheel rudder angle signal A. This basic value is a steering angle given to the rear wheels 3 when the vehicle is assumed to be traveling on a flat road. The rear wheel basic steering angle calculation means 2 obtains such a basic value and outputs a signal representing this basic value as a rear wheel basic steering angle signal B.
【００１１】 図１の場合、前記後輪基本舵角演算手段２には、前記前輪舵角センサ１からの 前輪舵角信号Ａの他、車速センサ４及びヨーレートセンサ５の検出信号も送り込 まれる。そして、前記後輪基本舵角演算手段２は、これら各センサ１、４、５か ら送り込まれる総ての信号に基づいて、前記基本値を求め、後輪基本舵角信号Ｂ として出力する。In the case of FIG. 1, in addition to the front wheel steering angle signal A from the front wheel steering angle sensor 1, detection signals of the vehicle speed sensor 4 and the yaw rate sensor 5 are also sent to the rear wheel basic steering angle calculation means 2. Be done. Then, the rear wheel basic steering angle calculation means 2 obtains the basic value based on all the signals sent from the respective sensors 1, 4, 5 and outputs it as a rear wheel basic steering angle signal B 1.
【００１２】 一方、傾斜計等の車両傾斜検出手段６は、車両の前後方向に亙る傾斜角度を測 定し、傾斜信号Ｃとして、後輪舵角補正値演算手段７に向け出力する。この後輪 舵角補正値演算手段７は、前記傾斜信号Ｃに基づいて、後輪３に付与すべき舵角 の補正値を求め、補正値信号Ｄとして出力する。On the other hand, the vehicle inclination detecting means 6 such as an inclinometer measures the inclination angle of the vehicle in the front-rear direction and outputs it as an inclination signal C to the rear wheel steering angle correction value calculating means 7. The rear wheel steering angle correction value calculation means 7 obtains a correction value of the steering angle to be applied to the rear wheels 3 based on the inclination signal C, and outputs it as a correction value signal D.
【００１３】 前記後輪基本舵角信号Ｂと補正値信号Ｄとは、何れも後輪舵角演算手段８に入 力される。そして、この後輪舵角演算手段８は、前記後輪基本舵角信号Ｂ及び補 正値信号Ｄに基づいて、実際に後輪に付与する舵角を求め、後輪舵角信号Ｅとし て出力する。Both the rear wheel basic steering angle signal B and the correction value signal D are input to the rear wheel steering angle calculation means 8. Then, the rear wheel steering angle calculation means 8 obtains the steering angle actually applied to the rear wheels based on the rear wheel basic steering angle signal B and the correction value signal D, and sets it as the rear wheel steering angle signal E. Output.
【００１４】 この後輪舵角信号Ｅは、電動式、或は油圧式のアクチュエータを組み込んだ、 後輪転舵手段９に送られる。そしてこの後輪転舵手段９が、前記後輪舵角信号Ｅ に基づいて、後輪３に舵角を付与する。The rear wheel steering angle signal E is sent to the rear wheel steering means 9 incorporating an electric or hydraulic actuator. Then, the rear wheel steering means 9 imparts a steering angle to the rear wheels 3 based on the rear wheel steering angle signal E 1.
【００１５】 図２は、上述の様に構成される本考案の四輪操舵装置により、後輪３に舵角付 与を行なう際の作用の１例を示している。FIG. 2 shows an example of the action when the steering angle is given to the rear wheels 3 by the four-wheel steering system of the present invention configured as described above.
【００１６】 先ず、ステップ１で前輪舵角センサ１から、前輪に付与された舵角θF を表わ す前輪舵角信号Ａを読み込み、ステップ２で、車速センサ４からの車速信号（更 に必要に応じてヨーレートセンサ５からのヨーレート信号）を読み込む。そして 、ステップ３で、前記ステップ１、２で読み込まれた信号に基づき、舵角比ａを 演算する。First, in step 1, the front wheel steering angle signal A representing the steering angle θ F given to the front wheels is read from the front wheel steering angle sensor 1, and in step 2, the vehicle speed signal from the vehicle speed sensor 4 (further, If necessary, the yaw rate signal from the yaw rate sensor 5) is read. Then, in step 3, the steering angle ratio a is calculated based on the signals read in steps 1 and 2.
【００１７】 この舵角比ａとは、前輪に付与された舵角の大きさと後輪に付与する舵角の大 きさとの比で、この舵角比ａが大きい程、後輪に対して大きな舵角が付与される 事を表わす。又、舵角比ａが負の場合、後輪に対して前輪と逆の方向の舵角が付 与されている事を、舵角比ａが正の場合、後輪に対して前輪と同じ方向の舵角が 付与されている事を、それぞれ表わす。尚、前記各センサ１、４、５からの信号 に基づいて舵角比ａを求めるのは、予め実験によって求められた実験式等により 行なう。The steering angle ratio a is the ratio of the size of the steering angle applied to the front wheels to the size of the steering angle applied to the rear wheels. This means that a large steering angle is given. When the steering angle ratio a is negative, the steering angle in the opposite direction to the front wheels is given to the rear wheels, and when the steering angle ratio a is positive, it is the same as the front wheels to the rear wheels. It shows that the steering angle of the direction is given. The steering angle ratio a is determined based on the signals from the sensors 1, 4, and 5 by using an empirical formula or the like that is previously determined by experiments.
【００１８】 例えば、図３は車速ｖと舵角比ａとの関係を表わしているが、この図３に実線 イ（この実線イは、後輪に付与すべき舵角の基本値θr （次述）を表わしている 。）で示す様に、或る車速ｖ0 （例えば４０km/h）を境として、車速ｖが遅い場 合には負の舵角比を与え、且つ、車速ｖが遅くなる程舵角比の絶対値を大きくす る。又、車速ｖが速い場合には正の舵角比を与え、且つ、車速が速くなる程舵角 比の絶対値を大きくする。For example, FIG. 3 shows the relationship between the vehicle speed v and the steering angle ratio a. In FIG. 3, the solid line a (this solid line a is the basic value θ r (of the steering angle to be given to the rear wheels. The following) is shown)), a negative steering angle ratio is given when the vehicle speed v is slow with a certain vehicle speed v 0 (for example, 40 km / h) as a boundary, and the vehicle speed v is The absolute value of the rudder angle ratio increases as the speed becomes slower. Further, when the vehicle speed v is high, a positive steering angle ratio is given, and the absolute value of the steering angle ratio is increased as the vehicle speed becomes higher.
【００１９】 上述の様にして舵角比ａが求められたならば、次いでステップ４で、車両が平 坦路を走行していると仮定した場合に、後輪３に付与する、後輪舵角の基本値θ r を求める。この基本値θr は、前記ステップ３で求めた舵角比ａと、前輪舵角 θF との積（＝ａ・θF ）により求められる。If the steering angle ratio a is obtained as described above, then, in step 4, if it is assumed that the vehicle is traveling on a flat road, the rear wheel steering provided to the rear wheels 3 Basic value of angle θ r Ask for. This basic value θr Is the steering angle ratio a obtained in step 3 and the front wheel steering angle θF Product of (= a ・ θF ) Is required.
【００２０】 次いで、ステップ５に於いて、車両傾斜検出手段６から、車両の前後方向に亙 る傾斜ｓを表わす信号を読み取り、続くステップ６で、後輪舵角補正値Ｄs を求 める。この後輪舵角補正値Ｄs は、やはり実験式等により求められるが、上り勾 配が大きくなる程後輪３に加わる荷重が増え、後輪３に付与された舵角の影響が 強く出る事を考慮して、後輪３に付与する舵角を小さくする。反対に、下り勾配 が大きくなる程後輪３に加わる荷重が減少し、後輪３に付与された舵角の影響が 出にくい事を考慮して、後輪３に付与する舵角を大きくする。Next, at step 5, a signal representing the inclination s of the vehicle in the front-rear direction is read from the vehicle inclination detection means 6, and at the subsequent step 6, a rear wheel steering angle correction value D s is obtained. .. This rear wheel steering angle correction value D s is also obtained by an empirical formula, etc., but the load on the rear wheels 3 increases as the upward gradient increases, and the influence of the steering angle applied to the rear wheels 3 becomes stronger. Considering this, the steering angle applied to the rear wheel 3 is reduced. On the other hand, considering that the larger the downward slope is, the lesser the load applied to the rear wheels 3 is and the influence of the steering angle applied to the rear wheels 3 is less likely to occur, the steering angle applied to the rear wheels 3 is increased. ..
【００２１】 上述の様にして、後輪舵角補正値Ｄs が求められたならば、続くステップ７に 於いて、実際に後輪３に付与する舵角θR を求める。このθR は、前記基本値θ r と後輪舵角補正値Ｄs との積（θr ・Ｄs ）として求められる。この様にして 求められた、実際に後輪３に付与する舵角θR は、車両が上り坂を走行している 場合には、図３に破線ロで示す様に、前記基本値θr よりも小さくなり、車両が 下り坂を走行している場合には、同図に鎖線ハで示す様に、前記基本値θr より も大きくなる。As described above, the rear wheel steering angle correction value Ds If is obtained, in the following step 7, the steering angle θ actually given to the rear wheel 3 is given.R Ask for. This θR Is the basic value θ r And rear wheel steering angle correction value Ds Product of (θr ・ Ds ) Is required. The steering angle θ to be actually applied to the rear wheels 3 thus obtainedR When the vehicle is traveling on an uphill, the basic value θr When the vehicle is traveling downhill, the basic value θr Will be greater than.
【００２２】 この様にして、実際に後輪３に付与する舵角θR が求められたならば、ステッ プ８に於いて、後輪転舵手段９により、実際に後輪３に舵角を付与する。以下、 図示しない制御器に組み込まれたパルス発生器等からの信号に基づいて、上述の 動作を一定時間（例えば、１秒又はそれ以下の短時間）毎に繰り返し行なう。In this way, if the steering angle θ R to be actually given to the rear wheels 3 is obtained, in step 8, the rear wheel steering means 9 actually changes the steering angle to the rear wheels 3. Give. Hereinafter, the above-described operation is repeated at regular intervals (for example, 1 second or a shorter time) based on a signal from a pulse generator or the like incorporated in a controller (not shown).
【００２３】[0023]
本考案の四輪操舵装置は、以上に述べた通り構成され作用する為、上り坂を走 行する場合と下り坂を走行する場合とで、ステアリング特性が大きく変化する事 がなく、初心者でも安定した山道走行を行なえる。 Since the four-wheel steering system of the present invention is constructed and operates as described above, the steering characteristics do not change significantly between traveling uphill and traveling downhill, and it is stable even for beginners. You can run on the mountain road.
【図１】本考案の実施例を示すブロック図。FIG. 1 is a block diagram showing an embodiment of the present invention.
【図２】同じくフローチャート。FIG. 2 is also a flowchart.
【図３】同じく車速と舵角比との関係を示す線図。FIG. 3 is a diagram showing a relationship between vehicle speed and steering angle ratio.
１ 前輪舵角センサ ２ 後輪基本舵角演算手段 ３ 後輪 ４ 車速センサ ５ ヨーレートセンサ ６ 車両傾斜検出手段 ７ 後輪舵角補正値演算手段 ８ 後輪舵角演算手段 ９ 後輪転舵手段 1 front wheel rudder angle sensor 2 rear wheel basic rudder angle calculation means 3 rear wheel 4 vehicle speed sensor 5 yaw rate sensor 6 vehicle inclination detection means 7 rear wheel rudder angle correction value calculation means 8 rear wheel rudder angle calculation means 9 rear wheel steering means
───────────────────────────────────────────────────── フロントページの続き (72)考案者 清野 薫 群馬県高崎市八幡町1390番地の12 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Kaoru Seino 12 1390, Yawatacho, Takasaki City, Gunma Prefecture
Claims (1)
角センサと、この前輪舵角センサから送り込まれる前輪
舵角信号に基づき、後輪に付与すべき舵角の基本値を求
めて後輪基本舵角信号として出力する、後輪基本舵角演
算手段と、車両の前後方向に亙る傾斜角度を測定する、
車両傾斜検出手段と、この車両傾斜検出手段から送り込
まれる傾斜信号に基づき、後輪に付与すべき舵角の補正
値を求め、補正値信号として出力する、後輪舵角補正値
演算手段と、前記後輪基本舵角信号及び補正値信号に基
づき、実際に後輪に付与する舵角を求め、後輪舵角信号
として出力する後輪舵角演算手段と、この後輪舵角信号
に基づいて後輪に舵角を付与する後輪転舵手段とから成
る四輪操舵装置。1. A basic value of a rudder angle to be applied to rear wheels is obtained based on a front wheel rudder angle sensor for detecting a rudder angle applied to front wheels and a front wheel rudder angle signal sent from the front wheel rudder angle sensor. The rear wheel basic rudder angle calculation means, which outputs as a rear wheel basic rudder angle signal, measures the tilt angle across the front-rear direction of the vehicle.
Vehicle inclination detection means, and a rear wheel steering angle correction value calculation means for obtaining a correction value of a steering angle to be given to the rear wheels based on the inclination signal sent from the vehicle inclination detection means, and outputting it as a correction value signal, Based on the rear wheel rudder angle signal, a rear wheel rudder angle calculation means for actually calculating the rudder angle to be applied to the rear wheel based on the rear wheel rudder angle signal and the correction value signal, and outputting as a rear wheel rudder angle signal. A four-wheel steering system including a rear-wheel steering unit that applies a steering angle to the rear wheels.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP7125291U JPH0516552U (en) | 1991-08-12 | 1991-08-12 | Four-wheel steering system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP7125291U JPH0516552U (en) | 1991-08-12 | 1991-08-12 | Four-wheel steering system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0516552U true JPH0516552U (en) | 1993-03-02 |
Family
ID=13455332
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP7125291U Pending JPH0516552U (en) | 1991-08-12 | 1991-08-12 | Four-wheel steering system |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0516552U (en) |
-
1991
- 1991-08-12 JP JP7125291U patent/JPH0516552U/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP4037506B2 (en) | Vehicle motion control device | |
| US6640171B2 (en) | Motor vehicle with supplemental rear steering having open and closed loop modes | |
| JP4124213B2 (en) | Vehicle departure prevention device | |
| JP3039187B2 (en) | Vehicle control device | |
| US6324458B1 (en) | Device for controlling vehicle turn behavior with discrimination of drive direction | |
| JP3669668B2 (en) | Vehicle wheel slip angle detection device | |
| CN106476653A (en) | The control device of vehicle and the control method of vehicle | |
| JP2008087763A (en) | Haptic controller for road vehicle | |
| WO2013027573A1 (en) | Vehicle cornering efficiency improving apparatus | |
| JP6504223B2 (en) | Vehicle driving force control method | |
| JP2009280102A (en) | Steering controlling device for vehicle with four-wheeled steering mechanism | |
| US6810317B2 (en) | System and method for controlling and/or regulating the handling characteristics of a motor vehicle | |
| JPH0569848A (en) | Vehicle motion control device | |
| US20020022915A1 (en) | Motor vehicle with supplemental rear steering having open and closed loop modes | |
| JP3039071B2 (en) | Vehicle turning limit judgment device | |
| JP2010149740A (en) | Vehicle motion control apparatus | |
| JPH0516552U (en) | Four-wheel steering system | |
| JP3190149B2 (en) | Control gain changing device for automotive control unit | |
| JP2518444B2 (en) | Driving force distribution switchable four-wheel drive vehicle | |
| JPH06199155A (en) | Control gain changing device for automobile control device | |
| JP5007269B2 (en) | Torque distribution control device for four-wheel drive vehicles | |
| JPH05185859A (en) | Control device of driving system clutch for vehicle | |
| JP4735831B2 (en) | Vehicle steering control device | |
| JPH05278488A (en) | Driving force distribution control device for four-wheel drive vehicle | |
| JPH037675A (en) | Four-wheel steering device |