JPS61171666A - Front-rear-wheel steering gear for vehicle - Google Patents
Front-rear-wheel steering gear for vehicleInfo
- Publication number
- JPS61171666A JPS61171666A JP1182185A JP1182185A JPS61171666A JP S61171666 A JPS61171666 A JP S61171666A JP 1182185 A JP1182185 A JP 1182185A JP 1182185 A JP1182185 A JP 1182185A JP S61171666 A JPS61171666 A JP S61171666A
- Authority
- JP
- Japan
- Prior art keywords
- steering angle
- angle ratio
- information
- vehicle
- rear wheel
- 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
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
- B62D7/1518—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 comprising a mechanical interconnecting system between the steering control means of the different axles
- B62D7/1545—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 comprising a mechanical interconnecting system between the steering control means of the different axles provided with electrical assistance
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〉
本発明は前輪に対する後輪の転舵角を可変制御し得る車
輌の前後輪操舵装置の改良に関する。DETAILED DESCRIPTION OF THE INVENTION <Industrial Application Field> The present invention relates to an improvement in a front and rear wheel steering device for a vehicle that can variably control the steering angle of the rear wheels relative to the front wheels.
〈従来の技術〉
本出願人は既に前輪の転舵に関連せしめて後輪を転舵す
ると共に、車速に応じて前輪に対する後輪の舵角比を可
変する車輌の操舵装置（特願昭５７−１３４８８８号等
）を提案した。この装置の概要について説明すると、低
速に於ては後輪を前輪と逆位相または略零に転舵させ、
他方高速に於てはこれとは反対に後輪を前輪と同位相に
転舵させる。そして、この舵角比は第６図のＤで示す如
く、車速に対し連続的関数となり、所定の車速ｄ１を境
界としてこれより車速が高くなれば舵角比が正、つまり
同位相に、これより車速が低くなれば舵角比が負、つま
り逆位相になる。舵角比の連続的制御がこの閏数曲ＩＩ
ＡＤに従って行なわれ、低速及び高速に於て操舵装置の
機能を両立させている。これにより低速に於ては車輌の
最小回転半径、内輪差ともに大幅に減少し、車庫入れ、
狭い屈曲路での走行及びニーターン等に於て車輌の取り
廻し性を飛躍的に向上させることができると共に、他方
、高速に於ては操縦応答性を飛躍的に向上させることが
できる。<Prior Art> The present applicant has already proposed a vehicle steering system (patent application No. 57) that steers the rear wheels in conjunction with the steering of the front wheels and varies the steering angle ratio of the rear wheels to the front wheels in accordance with the vehicle speed. -134888 etc.). To explain the outline of this device, at low speeds, the rear wheels are steered in opposite phase to the front wheels or almost at zero.
On the other hand, at high speeds, the rear wheels are steered in the same phase as the front wheels. As shown by D in Fig. 6, this steering angle ratio becomes a continuous function of the vehicle speed, and if the vehicle speed becomes higher than a predetermined vehicle speed d1 as a boundary, the steering angle ratio becomes positive, that is, in the same phase. As the vehicle speed becomes lower, the steering angle ratio becomes negative, that is, the phase becomes opposite. Continuous control of the steering angle ratio
This is done in accordance with the AD, and allows both the functions of the steering system to be achieved at low and high speeds. As a result, at low speeds, both the minimum turning radius and the difference between the inner wheels of the vehicle are significantly reduced, making it easier to park the vehicle in a garage.
The maneuverability of the vehicle can be dramatically improved when driving on narrow curved roads and knee turns, and on the other hand, the maneuverability can be dramatically improved at high speeds.
ところで、低速時に於て縦列駐車や狭い場所での幅寄せ
を行なう際には、前輪と後輪とが互い逆位相で転舵され
た場合には車輌の後部が横方向に振られるなどの不都合
が生じ、むしろ同位相に転舵した方がハンドル操作を容
易にする場合もあり、高速時に於ても運転者の好みに応
じて舵角比を成る一定値に保ちたい場合がある。そこで
このような前後輪操舵装置にマニュアル切換手段を設け
ることによりこのような要望を満たすことができる。By the way, when parallel parking at low speeds or pulling over in a narrow space, if the front wheels and rear wheels are steered in opposite phases, the rear of the vehicle may be swayed laterally, which is inconvenient. In some cases, it may be easier to operate the steering wheel by steering the wheels in the same phase, and even at high speeds, it may be desirable to maintain the steering angle ratio at a constant value according to the driver's preference. Therefore, by providing a manual switching means in such a front and rear wheel steering device, such a demand can be met.
しかしながら、車輌の運転状況によってはマニュアルの
切換手段を作動させた場合に後輪の舵角が急激に変化す
る場合があり、運転者が必ずしも適切な対応ができない
場合がある。例えば、逆位相領域で加速している時にマ
ニュアル切換手段により後輪が同位相になるモードに切
換えた場合には、車輌の旋回軌跡が急激に膨らむことが
あり、運転者に機敏な対応を要求することとなる。However, depending on the driving situation of the vehicle, when the manual switching means is activated, the steering angle of the rear wheels may change suddenly, and the driver may not necessarily be able to respond appropriately. For example, if the manual switching means switches to a mode in which the rear wheels are in the same phase while accelerating in the opposite phase region, the turning trajectory of the vehicle may suddenly expand, requiring the driver to respond quickly. I will do it.
〈発明が解決しようとする問題点〉
このような不具合に鑑み、本発明の主な目的は、マニュ
アル切換手段を具備することにより車輌の取り廻し性を
大幅に向上せしめることができ、しかもマニュアル操作
を行なっても車輌の運動に急激な変化を与えない状態で
のみマニュアル切換が可能であるような車輌の前後輪操
舵装置を提供することにある。<Problems to be Solved by the Invention> In view of the above-mentioned problems, the main object of the present invention is to significantly improve the maneuverability of a vehicle by providing a manual switching means. To provide a front and rear wheel steering device for a vehicle in which manual switching is possible only in a state where no sudden change is caused to the motion of the vehicle even if the steering is performed.
く問題点を解決するための手段〉
このような目的は、本発明によれば、後輪の転舵角を一
定の条件に従って可変制御する車輌の前後輪操舵装置に
於て、予め設定した一または二以上の舵角比情報または
後輪転舵角情報と、この舵角比情報または後輪転舵角情
報を選択し、選択された情報に対応する舵角比または後
輪転舵角を実現するマニュアル切換手段と、車速変化を
検出して車速変化が一定範囲内のときのみ前記切換手段
を作動させる規制手段とを具備することを特徴とする車
輌の前後輪操舵装置を提供することにより達成される。Means for Solving the Problems> According to the present invention, such an object is achieved by controlling a preset point in a front and rear wheel steering system of a vehicle that variably controls the steering angle of the rear wheels according to certain conditions. Or a manual that selects two or more pieces of steering angle ratio information or rear wheel turning angle information and the steering angle ratio information or rear wheel turning angle information and realizes the steering angle ratio or rear wheel turning angle corresponding to the selected information. This is achieved by providing a front and rear wheel steering device for a vehicle, comprising a switching means and a regulating means that detects a change in vehicle speed and operates the switching means only when the change in vehicle speed is within a certain range. .
〈作用〉
１”このように、車輌が成る程度以上の加速時及び
または減速時にあってはマニュアル切換手段の作動を規
制することにより、後輪の舵角の急激な変化に伴って発
生し得る不都合を回避することができる。<Effect>
1. In this way, by restricting the operation of the manual switching means when the vehicle is accelerating or decelerating beyond a certain level, inconveniences that may occur due to sudden changes in the steering angle of the rear wheels are avoided. can do.
〈実施例〉
以下、本発明の好適実施例を添付の図面について詳しく
説明する。<Embodiments> Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.
図面に於て、第１図は前後輪操舵装置を備えた車輌の概
略基本構造を示す斜視図、第２図は後輪操舵系の拡大斜
視図、第３図（ａ）、（ｂ）及び（（ｌはその作動原理
を示す破断側面図である。In the drawings, Fig. 1 is a perspective view showing the general basic structure of a vehicle equipped with a front and rear wheel steering system, Fig. 2 is an enlarged perspective view of the rear wheel steering system, and Figs. 3 (a), (b) and ((l is a cutaway side view showing the principle of operation.
先ず、本発明を明確にするため第１図乃至第３図を参照
して前後輪操舵装置の構成及び動作について説明する。First, in order to clarify the present invention, the configuration and operation of the front and rear wheel steering device will be explained with reference to FIGS. 1 to 3.
ハンドル１のハンドル軸２はラックピニオン式のギヤボ
ックス３内に組込まれラック軸４の左右端にはタイロッ
ド５．５が連結され、両タイロッド５．５の外端には前
輪７．７を支承したナックルアーム６．６が連結されて
おり、既知の如く、前輪７．７はハンドル１の操舵方向
へ転舵される。The handle shaft 2 of the handle 1 is incorporated into a rack and pinion gear box 3, and tie rods 5.5 are connected to the left and right ends of the rack shaft 4, and a front wheel 7.7 is supported at the outer ends of both tie rods 5.5. A knuckle arm 6.6 is connected thereto, and the front wheels 7.7 are steered in the steering direction of the steering wheel 1, as is known.
一方、前記ギ−７ボックス３がら後方ヘビニオン軸８が
導出され、この軸８の後端には自在継手９を介して長尺
のリンケージ軸１０が連結される。On the other hand, a rear hennion shaft 8 is led out from the gear 7 box 3, and a long linkage shaft 10 is connected to the rear end of this shaft 8 via a universal joint 9.
リンケージ軸１０の後端には自在継手１１を介して入力
軸１２が連結されており、この入力軸１２は重体後部の
左右中心線上に配置され、かつ軸受ブラケット１３にて
回転自在に支承されている。An input shaft 12 is connected to the rear end of the linkage shaft 10 via a universal joint 11, and this input shaft 12 is arranged on the left-right center line of the rear part of the heavy object, and is rotatably supported by a bearing bracket 13. There is.
更に入力軸１２の後端にはクレビス１４を介して第２図
に詳細に示す揺動軸１５が連結され、この揺動軸１５の
中間にはジヨイント部材１６が遊嵌されている。このジ
ヨイント部材１６の左右端には玉継手１７．１７を介し
てタイロッド１８．１８が連結され、かつジヨイント部
材１６はリンク２１．２２及びブラケット２３にて車体
側に揺動自在に支持されている。また、両タイロッド１
８．１８の外端には後輪２０．２０を支承したナックル
アーム１９．１９が連結されている。Further, a swing shaft 15 shown in detail in FIG. 2 is connected to the rear end of the input shaft 12 via a clevis 14, and a joint member 16 is loosely fitted in the middle of the swing shaft 15. Tie rods 18.18 are connected to the left and right ends of the joint member 16 via ball joints 17.17, and the joint member 16 is swingably supported on the vehicle body side by links 21.22 and brackets 23. . Also, both tie rods 1
A knuckle arm 19.19 supporting a rear wheel 20.20 is connected to the outer end of 8.18.
そして、前記揺動軸１５の後端にはアーム２５が下向き
に突出するように固着され、このアーム２５の下端には
リンク２ｄが上下方向に回動自在に枢着され、リンク２
６の後端にはスライダ２７が同じく上下方向に回動自在
に枢着されている。An arm 25 is fixed to the rear end of the swing shaft 15 so as to protrude downward, and a link 2d is pivotally connected to the lower end of the arm 25 so as to be freely rotatable in the vertical direction.
A slider 27 is similarly pivotally mounted to the rear end of the slider 6 so as to be freely rotatable in the vertical direction.
このスライダ２８には第３図に示す如くボールスクリュ
ー機構２８を介してモータ２９の出力軸３０が螺合され
、この出力軸３ｏが前記入力軸１２と同軸的に後方に位
置するようにモータ２９が車体に固定されている。An output shaft 30 of a motor 29 is screwed onto the slider 28 via a ball screw mechanism 28 as shown in FIG. is fixed to the vehicle body.
一方、車輌には車載コンピュータ３１が搭載され、この
コンピュータ３１は車速を検出する重速センサ３２及び
上記スライダ２７の位置を検出する位置セン勺３３から
の信号を受けて車速に応じた適正な制御信号をモータ２
９に供給する。On the other hand, the vehicle is equipped with an on-board computer 31, which receives signals from a heavy speed sensor 32 that detects the vehicle speed and a position sensor 33 that detects the position of the slider 27, and performs appropriate control according to the vehicle speed. signal to motor 2
Supply to 9.
スライダ２７が第３図（ａ）に示す位置にあり、ジヨイ
ント部材１６のピボット点Ｐが入力軸１２の軸心に一致
している場合は、入力軸１２と揺動＠１５とは同心にて
回動するためジヨイント部材１６は左右揺動せず、タイ
ロッド１８．１８も不動である。従って、前輪７．７の
みが転舵され、後輪２０．２０は全く転舵されない。When the slider 27 is in the position shown in FIG. 3(a) and the pivot point P of the joint member 16 coincides with the axis of the input shaft 12, the input shaft 12 and the swing @15 are concentric. Due to the rotation, the joint member 16 does not swing from side to side, and the tie rods 18, 18 also remain stationary. Therefore, only the front wheels 7.7 are steered and the rear wheels 20.20 are not steered at all.
一方、車速が設定値ｄ１（第６図）未満の低速時には、
コンピュータ３１が車速センサ３２からの車速信号に応
じてモータ２９を駆動することにより第３図（ｂ）に示
す如くスライダ２７の位置を前進位置に定める。スライ
ダ２７が前進位置にあれば、揺動軸１５が下方へ傾き、
ピボット点Ｐが入力軸１２の軸心よりも下方へｅ、だけ
オフセット（ｉｆ心）するためジヨイント部材１６は入
力軸１２の回動に応じて左右揺動し、後輪用タイロッド
１８．１８を前輪用タイロッド５．５とは逆方向へ変位
させる。従って後輪２０．２ｏが前輪７．７とは逆位相
に転舵されるとともに、前後輪の舵角比が車速に対応し
て連続的に変化する。On the other hand, when the vehicle speed is lower than the set value d1 (Fig. 6),
The computer 31 drives the motor 29 in response to the vehicle speed signal from the vehicle speed sensor 32, thereby positioning the slider 27 at the forward position as shown in FIG. 3(b). When the slider 27 is in the forward position, the swing shaft 15 tilts downward,
Since the pivot point P is offset (if center) by e below the axis of the input shaft 12, the joint member 16 swings left and right in accordance with the rotation of the input shaft 12, and the rear wheel tie rod 18. Displace the front wheel tie rod 5.5 in the opposite direction. Therefore, the rear wheels 20.2o are steered in a phase opposite to that of the front wheels 7.7, and the steering angle ratio of the front and rear wheels changes continuously in accordance with the vehicle speed.
また、車速が設定値ｄ１（第６図）を越えた高速時には
、コンピュータ３１がモータ２９をその時の車速に応じ
て逆転せしめ、第３図（Ｃ）に示す如くスライダ２７を
後退させる。このスライダ２７の後退により揺動軸１５
が上方へ傾き、ピボット点Ｐが入力軸１２の軸心よりも
上方へ０２だけオフセットするため、ジヨイント部材１
６は入力軸、２．）。ａ＆：応Ｕエヵお揺動５．９．□
、イ ！１０ツド１８．１８を前輪用タイロッド
５．５と同方向へ変位させる。従って後輪２０．２０は
前輪７．７と同位相に転舵され、前後輪の舵角比も車速
に対応して連続的に変化する。When the vehicle speed exceeds the set value d1 (FIG. 6), the computer 31 reverses the motor 29 in accordance with the vehicle speed at that time, and moves the slider 27 backward as shown in FIG. 3(C). As the slider 27 retreats, the swing shaft 15
is tilted upward, and the pivot point P is offset upward by 02 from the axis of the input shaft 12, so the joint member 1
6 is an input shaft; 2. ). a &: U Eka O Swing 5.9. □
,stomach ! 10. Displace the tie rod 18.18 in the same direction as the front wheel tie rod 5.5. Therefore, the rear wheels 20.20 are steered in the same phase as the front wheels 7.7, and the steering angle ratio of the front and rear wheels also changes continuously in accordance with the vehicle speed.
次に、第４図乃至第６図を参照し、本発明の要部構成に
ついて説明する。第４図は要部構成図、第５図は第４図
の機能ブロック図、第６図は第５図に於ける舵角比出力
特性図である。Next, the main structure of the present invention will be explained with reference to FIGS. 4 to 6. FIG. 4 is a configuration diagram of main parts, FIG. 5 is a functional block diagram of FIG. 4, and FIG. 6 is a steering angle ratio output characteristic diagram in FIG. 5.
先ず、第４図に於て符号３４は例えば複数の押ボタン３
５ａ１３５ｂ・・・を並べて構成した舵角比（または後
輪転舵角、以下同じ）マニュアル選択スイッチであり、
車室内のインストルメントパネル３６に配設してドライ
バが手動で操作できるようにしである。この選択スイッ
チ３４は前記コンピュータ３１に接続され、選択スイッ
チ３４にて選択された舵角比の選択結果がコンピュータ
３１に入力される。First, in FIG. 4, reference numeral 34 indicates, for example, a plurality of push buttons 3.
5a135b... is a steering angle ratio (or rear wheel steering angle, the same hereinafter) manual selection switch configured by arranging
It is arranged on an instrument panel 36 inside the vehicle so that the driver can manually operate it. This selection switch 34 is connected to the computer 31, and the selection result of the steering angle ratio selected by the selection switch 34 is input to the computer 31.
次に、第５図を参照しコンピュータ３１に於け。Next, in the computer 31, referring to FIG.
る舵角比のマニュアル選択機能について説明する。The following describes the manual selection function of the steering angle ratio.
先ず、舵角比が車速に応じて自動的に変化する通常の動
作（オート作動）について説明する。このれは選択スイ
ッチ３４の、第１番目の押ボタン３５ａを押すことによ
り選択される。前記したように、車速センサ３２が検出
した中速信号はコンピュータ３１に入力され、変換処理
（イ）によって車速に対応する舵角比デ〜りｋａに変換
される。First, the normal operation (auto operation) in which the steering angle ratio automatically changes depending on the vehicle speed will be explained. This is selected by pressing the first push button 35a of the selection switch 34. As described above, the medium speed signal detected by the vehicle speed sensor 32 is input to the computer 31, and is converted by the conversion process (a) into the steering angle ratio de-rika corresponding to the vehicle speed.
他方、位置センサ３３からは実際の舵角比データに、が
得られ、両舵角比データｋｋ が比較ａ′ ｂ
演算処理（０）されて必要な舵角比修正情報ｂ１が得ら
れる。一方、選択スインｆ３４に於ては前記のオート作
動Ａ１が選択されているため、選択処理（ハ）によって
上記修正情報ｂ１はそのままコンピュータ３１から出力
され、出力装置３７を介して車速に応じた必要な舵角比
に変更する修正Ｉｌｌ ｔｌｌ信号Ｓ１が前記モータ２
９に供給される。On the other hand, the actual steering angle ratio data is obtained from the position sensor 33, and both steering angle ratio data kk are compared and processed (0) to obtain necessary steering angle ratio correction information b1. On the other hand, since the auto operation A1 is selected in the selection switch f34, the correction information b1 is output as is from the computer 31 in the selection process (c), and the correction information b1 is outputted as is according to the vehicle speed via the output device 37. The correction Ill/tll signal S1 for changing the steering angle ratio to the motor 2
9.
他方、コンピュータ３１の記憶装置には所定の舵角比情
報（ニ）が記憶されている。この情報（ニ）は例えば任
意の大きさをもつ複数の舵角比データに１、ｋ２、ｋ３
、・・・ｋｏからなる。そして、選択スイッチ３４に於
て、前記押ボタン３５ａ以外の任意の押ボタン、例えば
抑ボタン３５ｂを押せば、舵角比情報（ニ）から舵角比
データに１が読み出され、これは位置センサ３３からの
舵角比データに、と比較演梼処理（ホ）され修正情報ｂ
２が得られる。On the other hand, predetermined steering angle ratio information (d) is stored in the storage device of the computer 31. This information (d) is, for example, 1, k2, k3 for multiple pieces of steering angle ratio data having arbitrary sizes.
,...consists of ko. Then, in the selection switch 34, if you press any push button other than the push button 35a, for example, the hold button 35b, 1 is read out from the steering angle ratio information (d) as the steering angle ratio data, which indicates the position. The steering angle ratio data from the sensor 33 is subjected to comparison processing (e) and correction information b.
2 is obtained.
一７ｊ、選択処理（ハ）に於ては、選択スイッチ３４に
於けるオート作動へ〇以外の押ボタンが押されている場
合にはこれを受け、前記修正情報ｂ１の出力を停止し゛
、前記修正情報ｂ２を出力するよう選択する。これによ
り修正制御信号Ｓ２が出力装置３７からモータ２９に供
給され、後輪の舵角比かに１に設定される。17j. In the selection process (c), if a push button other than ○ for automatic operation in the selection switch 34 is pressed, in response to this, the output of the correction information b1 is stopped, and the output of the correction information b1 is stopped. Select to output correction information b2. As a result, the modified control signal S2 is supplied from the output device 37 to the motor 29, and the steering angle ratio of the rear wheels is set to 1.
この動作は他の押ボタン３５ｂ、３５ａ・・・について
も同様であり、ドライバは選択スイッチ３４にて第６図
に示す任意の舵角比ｋ １に２、ｋ３・・・ｋｎをマニ
ュアル選択することができる。This operation is the same for the other pushbuttons 35b, 35a..., and the driver manually selects any steering angle ratio k1, k3...kn shown in FIG. 6 using the selection switch 34. be able to.
他方、コンピュータ３１に於ては車速センＪ３２からの
車速信号を微分して（チ）車速変化信号が得られ判断処
理（へ）が実行される。この判断処理（へ）に於ては、
車速変化信号を、予め設定されている基準車速変化デー
タ（ト）と比較し、このＭ準車速データ（ト）より大き
いか否かが判断される。そして、重速変化が大きい場合
、つまり車速変化が一定速度変化値を越えているときは
前記選択処理（ハ）に判断結果を与え、マニュアル修正
を行なう修正情報ｂ２の出力を規制する。On the other hand, the computer 31 differentiates the vehicle speed signal from the vehicle speed sensor J32 to obtain a (h) vehicle speed change signal, and executes the determination process (h). In this judgment process,
The vehicle speed change signal is compared with preset reference vehicle speed change data (g), and it is determined whether or not it is greater than the M quasi-vehicle speed data (g). If the change in heavy speed is large, that is, if the change in vehicle speed exceeds a constant speed change value, the judgment result is given to the selection process (c), and the output of correction information b2 for manual correction is regulated.
即ち、オート作ｗＪＡ□により舵角比の修正を行なって
いる状態に於て、車速変化が一定速度変化を越えている
場合は、たとえマニュアル選択スイッチ３４にてマニュ
アル修正しようとしても選択処理（ハ）はオート作１１
１ＪＡ、の状態を維持しマニュアル作動に移行させない
。In other words, when the steering angle ratio is being corrected using the automatic operation wJA□, if the vehicle speed change exceeds the constant speed change, even if an attempt is made to make manual correction using the manual selection switch 34, the selection process (H ) is made by auto 11
1JA, and do not shift to manual operation.
尚、このような規制を行なう上記車速変化データ（ト）
は車輌運動状態に急激な変化を与えない速度変化を考曙
して選定する。一般に、この車速変化デーウは重速変化
の絶対値と比較されるように定めることもできるが、加
減速時にそれぞれ異なる限界値を与えるように加速時用
及び減速時用′″＋ｔｔ、−ｒｔｔ＊′″″１°”Ｃｆ
ｆ−６り６ Ｚ“６−６・ １１以上コンピュータ３
１に於ける各種処理はコンピュータ３１内の例えば記憶
装置に記憶された所定の制御プログラム（ソフトウェア
）によって実行されるものであって良い。In addition, the above vehicle speed change data (g) that enforces such regulations
is selected by considering speed changes that do not cause sudden changes in the vehicle motion state. In general, this vehicle speed change data can be determined so as to be compared with the absolute value of the heavy speed change, but it is possible to set different limit values for acceleration and deceleration'''+tt, -rtt* for acceleration and deceleration, respectively. ′″″1°”Cf
f-6ri6 Z"6-6・11 and above computer 3
Various processes in 1 may be executed by a predetermined control program (software) stored in, for example, a storage device in the computer 31.
尚、以上の実施例に於て、車載コンピュータ３１を利用
するが、この他局ｍ能を有する電気的回路、機械的構成
であっても良い。Although the on-vehicle computer 31 is used in the above embodiment, an electrical circuit or mechanical configuration having other functions may be used.
また位置センサ３３及びマニュアル選択スイッチ３４に
より前後輪の舵角比をマニュアル選択できるようにした
が後輪転舵角を同様に選択できるようにしても良い。Furthermore, although the steering angle ratio of the front and rear wheels can be manually selected using the position sensor 33 and the manual selection switch 34, the steering angle of the rear wheels may also be selected in the same manner.
更に、本発明は実施例に限定されず、前後輪を油圧によ
り操舵制御し、重輪舵角情報を油圧により伝達する前後
輪操舵装置、或いは前輪舵角を電気信号でコンピュータ
３１に伝送するようにした前後輪操舵装置等にも同様に
適用できる。Furthermore, the present invention is not limited to the embodiments, and may include a front and rear wheel steering device that hydraulically controls front and rear wheels and transmits heavy wheel steering angle information using hydraulic pressure, or a front and rear wheel steering device that transmits front wheel steering angle information to a computer 31 as an electrical signal. The present invention can be similarly applied to front and rear wheel steering devices, etc.
更に、マニュアルの切換手段に適当な遅延手段を設ける
ことにより、ンニュアルの切換手段の作動が規υ１され
ない場合でも、マニュアル選択が徐々に達成されるよう
にして、あらゆる場合に於て前輪の舵角とは無関係に後
輪の舵角が急激に変化することのないようにしても良い
。Furthermore, by providing suitable delay means in the manual switching means, manual selection is achieved gradually, even if the operation of the manual switching means is not regulated, so that the steering angle of the front wheels remains constant in all cases. The steering angle of the rear wheels may be prevented from changing suddenly regardless of the situation.
〈効果〉
このように、本発明によれば、前輪に対する後輪の舵角
比を車速等に応じて可変できる車輌の前後輪操舵装置等
に於て車速等に関係なく所望の舵角比を任意にマニュア
ルで変更することができることにより車輌の取回し性を
向上させ、しかも特にマニュアル操作が必要でない時の
マニュアル選択を防止してドライバの予期しない車輌の
運動状態の急激な変化を防ぐ効果がある。<Effect> As described above, according to the present invention, a desired steering angle ratio can be set regardless of the vehicle speed, etc. in a vehicle front and rear wheel steering device, etc., which can vary the steering angle ratio of the rear wheels to the front wheels according to the vehicle speed, etc. By being able to make manual changes at will, it improves the maneuverability of the vehicle, and also prevents manual selection when manual operation is not required, thereby preventing sudden changes in the vehicle's motion state that are unexpected by the driver. There is.
第１図は前後輪操舵装置を備えた車輌の概略基本構造を
示す斜視図である。
第２図は後輪操舵系の拡大斜視図である。
第３図（ａ）、（ｂ）、及び（Ｃ）は後輪操舵系の作動
原理を示す破断側面図である
第４図は要部構成図である。
第５図は第４図の機能ブロック図である。
第６図は第５図に於ける舵角比出力特性図である。
１・・・ハンドル ２・・・ハンドル軸３・・・
ギヤボックス ４・・・ラック軸５・・・タイロッド
６・・・ナックルアーム７・・・前輪
８・・・ピニオン軸９・・・自在継手 １０・
・・リンケージ軸１１・・・自在継手 １２・・・
入力軸１３・・・軸受ブラケット１４・・・クレビス１
５・・・揺動軸 １６・・・ジヨイント部材１７
・・・玉継手 １８・・・タイロッド１９・・・
ナックルアーム２０・・・後輪２１．２２・・・リンク
２３・・・ブラケット２５・・・アーム ２６
・・・リンク２７・・・スライダ
２８・・・ポールスクリュウ機構
２９・・・モータ ３０・・・出力軸３１・・・
コンピュータ ３２・・・車速センサ３３・・・位置セ
ンサ ３４・・・選択スイッチ３５ａ〜３５ｄ・・・
押ボタン
３７・・・出力装置
特 許 出 願 人 本田技研工業株式会社代
理 人 弁理士 大 島 陽
−第２！！１
第３図
（ａ）
ｌ口
（ｂ）
（ｃ）
第４図
第６図
（ｉ！！相）FIG. 1 is a perspective view showing the general basic structure of a vehicle equipped with a front and rear wheel steering device. FIG. 2 is an enlarged perspective view of the rear wheel steering system. FIGS. 3(a), 3(b), and 3(C) are cutaway side views showing the operating principle of the rear wheel steering system. FIG. 4 is a configuration diagram of the main parts. FIG. 5 is a functional block diagram of FIG. 4. FIG. 6 is a steering angle ratio output characteristic diagram in FIG. 5. 1... Handle 2... Handle shaft 3...
Gear box 4...Rack shaft 5...Tie rod 6...Knuckle arm 7...Front wheel
8... Pinion shaft 9... Universal joint 10.
... Linkage shaft 11 ... Universal joint 12 ...
Input shaft 13...bearing bracket 14...clevis 1
5... Swing shaft 16... Joint member 17
...Ball joint 18...Tie rod 19...
Knuckle arm 20...Rear wheel 21.22...Link 23...Bracket 25...Arm 26
... Link 27 ... Slider 28 ... Pole screw mechanism 29 ... Motor 30 ... Output shaft 31 ...
Computer 32...Vehicle speed sensor 33...Position sensor 34...Selection switches 35a to 35d...
Push button 37...Output device patent applicant Honda Motor Co., Ltd.
Attorney Patent Attorney Yo Oshima
-Second! ! 1 Figure 3 (a) l mouth (b) (c) Figure 4 Figure 6 (i!! phase)
Claims (1)
前後輪操舵装置に於て、 予め設定した一または二以上の舵角比情報または後輪転
舵角情報と、 この舵角比情報または後輪転舵角情報を選択し、選択さ
れた情報に対応する舵角比または後輪転舵角を実現する
マニュアル切換手段と、 車速変化を検出して車速変化が一定範囲内のときのみ前
記切換手段を作動させる規制手段とを具備することを特
徴とする車輌の前後輪操舵装置。[Scope of Claims] A front and rear wheel steering device for a vehicle that variably controls the steering angle of the rear wheels according to certain conditions includes one or more preset steering angle ratio information or rear wheel steering angle information; A manual switching means that selects the steering angle ratio information or rear wheel steering angle information and realizes the steering angle ratio or rear wheel steering angle corresponding to the selected information; and a manual switching means that detects a change in vehicle speed and keeps the vehicle speed change within a certain range. A front and rear wheel steering device for a vehicle, comprising: a regulating means that operates the switching means only when the switching means is operated.
Priority Applications (7)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP60011821A JPH0735146B2 (en) | 1985-01-24 | 1985-01-24 | Front and rear wheel steering system for vehicles |
| FR868600943A FR2576271B1 (en) | 1985-01-24 | 1986-01-23 | FRONT AND REAR WHEEL STEERING DEVICE |
| AU52647/86A AU569651B2 (en) | 1985-01-24 | 1986-01-23 | Front and rear wheel steering device |
| US06/822,000 US4695068A (en) | 1985-01-24 | 1986-01-24 | Front and rear wheel steering device |
| CA000500372A CA1266441A (en) | 1985-01-24 | 1986-01-24 | Front and rear wheel steering device |
| DE3602071A DE3602071C2 (en) | 1985-01-24 | 1986-01-24 | All-wheel steering device for a vehicle |
| GB08601696A GB2170452B (en) | 1985-01-24 | 1986-01-24 | Front and rear wheel steering device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP60011821A JPH0735146B2 (en) | 1985-01-24 | 1985-01-24 | Front and rear wheel steering system for vehicles |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS61171666A true JPS61171666A (en) | 1986-08-02 |
| JPH0735146B2 JPH0735146B2 (en) | 1995-04-19 |
Family
ID=11788443
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP60011821A Expired - Fee Related JPH0735146B2 (en) | 1985-01-24 | 1985-01-24 | Front and rear wheel steering system for vehicles |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0735146B2 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS63112286A (en) * | 1986-10-30 | 1988-05-17 | Mazda Motor Corp | Four-wheel steering device for vehicle |
| JPH01141177A (en) * | 1987-11-26 | 1989-06-02 | Isuzu Motors Ltd | Steering angle ratio controller |
| JPH07141689A (en) * | 1993-11-15 | 1995-06-02 | Nec Corp | Method of setting transmission hole for laser spot and optical head device using it |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5981264A (en) * | 1982-10-29 | 1984-05-10 | Mazda Motor Corp | Four-wheel steering gear for vehicle |
| JPS5981274A (en) * | 1982-10-30 | 1984-05-10 | Mazda Motor Corp | 4-wheel steering device of vehicle |
-
1985
- 1985-01-24 JP JP60011821A patent/JPH0735146B2/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5981264A (en) * | 1982-10-29 | 1984-05-10 | Mazda Motor Corp | Four-wheel steering gear for vehicle |
| JPS5981274A (en) * | 1982-10-30 | 1984-05-10 | Mazda Motor Corp | 4-wheel steering device of vehicle |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS63112286A (en) * | 1986-10-30 | 1988-05-17 | Mazda Motor Corp | Four-wheel steering device for vehicle |
| JPH01141177A (en) * | 1987-11-26 | 1989-06-02 | Isuzu Motors Ltd | Steering angle ratio controller |
| JPH07141689A (en) * | 1993-11-15 | 1995-06-02 | Nec Corp | Method of setting transmission hole for laser spot and optical head device using it |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0735146B2 (en) | 1995-04-19 |
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| Date | Code | Title | Description |
|---|---|---|---|
| LAPS | Cancellation because of no payment of annual fees |