JPS61181778A - Rear-wheel steering controller for vehicles - Google Patents
Rear-wheel steering controller for vehiclesInfo
- Publication number
- JPS61181778A JPS61181778A JP60022667A JP2266785A JPS61181778A JP S61181778 A JPS61181778 A JP S61181778A JP 60022667 A JP60022667 A JP 60022667A JP 2266785 A JP2266785 A JP 2266785A JP S61181778 A JPS61181778 A JP S61181778A
- Authority
- JP
- Japan
- Prior art keywords
- vehicle
- wheel steering
- steering angle
- rear wheel
- distance
- 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
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
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、前輪操舵装置と後輪操舵装置を備えた車両に
係り、特に車両の後輪操舵装置の操舵角を前輪操舵装置
の操舵角に対し同車両の停止時及び低速時に逆位相に制
御する電気的制御手段を備えた車両用後輪操舵制御装置
に関するものである。[Detailed Description of the Invention] [Field of Industrial Application] The present invention relates to a vehicle equipped with a front wheel steering device and a rear wheel steering device. The present invention relates to a rear wheel steering control device for a vehicle, which is equipped with an electric control means that controls the vehicle to have an opposite phase when the vehicle is stopped and at low speed.
従来、この種の制御装置は、特開昭５９−８１２７３号
公報に示されるように、車両の停止時及び低速時には後
輪操舵装置の操舵角を前輪操舵装置の操舵角に対して逆
位相に制御して車両の回転半径を小さくし、発進時には
予め定めた設定時間中後輪操舵角を常に零に制御して車
両の回転半径を大きくするようにしである。かかる構成
によれば、車体の一側を車庫側壁に近接して収容した車
両を同側壁と反対方向に車庫出しする際、上記設定時間
内に車庫出し操作が完了する場合には前輪に対する後輪
の逆位相操舵による車両操舵方向とは反対側の車体後部
の横方向への張出しを少なくして、車庫側壁との接触を
避けることができる。Conventionally, this type of control device, as shown in Japanese Unexamined Patent Publication No. 59-81273, sets the steering angle of the rear wheel steering device in the opposite phase to the steering angle of the front wheel steering device when the vehicle is stopped or at low speed. The vehicle is controlled so that the turning radius of the vehicle is made small, and when starting, the rear wheel steering angle is always controlled to be zero during a predetermined set time to increase the turning radius of the vehicle. According to this configuration, when a vehicle whose one side of the vehicle body is stored close to a side wall of the garage is taken out of the garage in a direction opposite to the side wall, if the operation to take out the garage is completed within the set time, the rear wheels are replaced with the front wheels. By reducing the lateral protrusion of the rear part of the vehicle body on the opposite side to the vehicle steering direction due to the reverse phase steering, contact with the garage side wall can be avoided.
しかるに、上記従来の装置にあっては、上記設定時間を
短くすると、車庫出しに長い時間を要して上記設定時間
を経過した後には、後輪は前輪に対し逆位相操舵され、
車両の操舵方向とは反対側の車体後部の横方向への張出
しにより、車体が車庫側壁等と接触するおそれがある。However, in the conventional device described above, when the set time is shortened, it takes a long time to take the vehicle out of the garage, and after the set time has elapsed, the rear wheels are steered in opposite phase to the front wheels.
Due to the lateral protrusion of the rear part of the vehicle body on the opposite side to the steering direction of the vehicle, there is a risk that the vehicle body may come into contact with a garage side wall or the like.
これとは逆に、上記設定時間を長くすると車両の発進後
上記設定時間中は後輪操舵角が零に維持されるので、車
庫出し直後に路地等狭い道を曲がるとき車両の回転半径
が大きくなって小回りができない。On the other hand, if you lengthen the above set time, the rear wheel steering angle will be maintained at zero during the above set time after the vehicle starts, so the turning radius of the vehicle will become larger when turning around a narrow road such as an alley immediately after leaving the garage. I can't make small turns.
さらに、上記従来の装置においては、両側に側壁のある
車庫内の一方の側壁に近接して収容した車両を同側壁の
方向に操舵して車庫出しする場合には、反対側には何ら
障害物が存在していないにもかかわらず車両の回転半径
が大きくなってこの種の制御装置の利点を有効に生かす
ことができない。また、路上にて車両を一旦停止させた
直後に発進して路地等の狭い道を曲ろうとする場合には
、上記設定時間が経過しないため車両の回転半径が大き
くなって小回りがきかない。Furthermore, in the conventional device described above, when a vehicle stored near one side wall in a garage with side walls on both sides is steered toward the same side wall to exit the garage, there are no obstacles on the opposite side. Even though this type of control device does not exist, the turning radius of the vehicle becomes large and the advantages of this type of control device cannot be effectively utilized. Furthermore, when the vehicle is stopped on the road and then immediately started to turn around a narrow road such as an alley, the set time does not elapse and the turning radius of the vehicle becomes large, making it difficult to turn around.
本発明は上記問題に対処するため、車両のいずれか一側
近傍に側壁、電柱等障害物が存在する場合には後輪操舵
装置の操舵角を零にして車両の回転半径を大きくし、そ
の他の場合には上記電気的制御手段の機能を有効に発揮
させうる車両用後輪操舵制御装置を提供しようとするも
のである。In order to solve the above problem, the present invention increases the turning radius of the vehicle by setting the steering angle of the rear wheel steering device to zero when there is an obstacle such as a side wall or utility pole near one side of the vehicle. In this case, it is an object of the present invention to provide a rear wheel steering control device for a vehicle that can effectively utilize the functions of the electrical control means described above.
かかる問題の解決にあたり、本発明の構成上の特徴は、
第１図に示すごとく、車両の後輪操舵装置１の操舵角を
前輪操舵装置２の操舵角に対して同車両の停止時及び低
速時に逆位相に制御する電気的制御手段３を備えてなる
車両用後輪操舵制御装置において、前記前輪操舵装置２
の操舵方向とは反対側に位置する障害物とそれに対向す
る前記車両の一側との距離を検出してその検出値を表わ
す検出信号を出力する側方距離検出装置４と、該側方距
離検出装置４から付与される前記検出信号の値が所定値
以下のとき前記前輪操舵装置２の操舵角とは無関係に前
記後輪操舵装置１の操舵角を零に維持して前記検出信号
の値が前記所定値より太き（なったとき前記電気的制御
手段３の機能を許容する制御手段５とを設けたことにあ
る。In solving this problem, the structural features of the present invention are as follows:
As shown in FIG. 1, it is equipped with an electric control means 3 that controls the steering angle of the rear wheel steering device 1 of the vehicle to be in an opposite phase to the steering angle of the front wheel steering device 2 when the vehicle is stopped and at low speed. In the rear wheel steering control device for a vehicle, the front wheel steering device 2
a lateral distance detection device 4 that detects the distance between an obstacle located on the opposite side to the steering direction of the vehicle and one side of the vehicle facing the obstacle and outputs a detection signal representing the detected value; When the value of the detection signal given from the detection device 4 is below a predetermined value, the steering angle of the rear wheel steering device 1 is maintained at zero regardless of the steering angle of the front wheel steering device 2, and the value of the detection signal is maintained at zero. is thicker than the predetermined value (control means 5 for permitting the function of the electric control means 3 to operate) is provided.
上記のように構成した本発明においては、側方距離検出
装置４により前輪操舵装置２の操舵方向とは反対側に位
置する障害物とそれに対向する車両の一側との距離を検
出し、この距離が小さい場合には後輪操舵装置１の操舵
角を零に制御し、同距離が大きく車両が停止又は低速走
行している場合には後輪操舵装置１の操舵角を前輪操舵
装置２の操舵角に対し逆位相に制御するので、障害物が
前輪操舵装置２の操舵方向と反対側の車両側部に近接し
ている場合には車両の回転半径を大きくして前記障害物
側の車両後部の張出しを防止し、障害物が前輪操舵装置
２の操舵方向と反対側の車両側部に近接していない場合
には車両の回転半径を小さくしてこの種の制御装置の利
点を生かすことができる。In the present invention configured as described above, the lateral distance detection device 4 detects the distance between an obstacle located on the opposite side to the steering direction of the front wheel steering device 2 and one side of the vehicle facing the obstacle. If the distance is small, the steering angle of the rear wheel steering device 1 is controlled to zero, and if the distance is large and the vehicle is stopped or traveling at low speed, the steering angle of the rear wheel steering device 1 is controlled to zero. Since the steering angle is controlled in an opposite phase to the steering angle, if an obstacle is close to the side of the vehicle opposite to the steering direction of the front wheel steering device 2, the turning radius of the vehicle is increased to move the vehicle toward the obstacle. To take advantage of this type of control device by preventing the rear part from protruding and reducing the turning radius of the vehicle when an obstacle is not close to the side of the vehicle opposite to the steering direction of the front wheel steering device 2. I can do it.
そして、第２図に示すような車庫６の左側壁６Ｌに近接
収容した車両７を図示右側方向へ車庫出しする場合には
、左側壁６Ｌと車両７の左側部７Ｌとの距離が小さいた
め、後輪操舵装置ｌの操舵角は車両発進からの時間に関
係なく零に維持されて車両７の回転半径は太き（なり、
車両７は軌跡人に示されるように進むので車両７の左側
部７Ｌ後端が左側壁６Ｌと接触することはない。また、
上記のように収容した車両７を左側方向へ車庫出しする
場合には、右側壁６Ｒと車両７の右側部７Ｒとの距離が
大きいため発進時から後輪操舵装置１の操舵角は前輪操
舵装置２の操舵角に対し逆位相に制御されて回転半径は
小さくなり、車両７は軌跡Ｂに示されるように進むので
車両７の左側部７Ｌ後端が内輪差により左側壁６Ｌと接
触することな（小回りすることができる。When the vehicle 7 stored close to the left wall 6L of the garage 6 as shown in FIG. 2 is taken out of the garage toward the right side in the figure, the distance between the left wall 6L and the left side 7L of the vehicle 7 is small. The steering angle of the rear wheel steering device 1 is maintained at zero regardless of the time since the vehicle started, and the turning radius of the vehicle 7 is wide.
Since the vehicle 7 moves as indicated by the trajectory, the rear end of the left side 7L of the vehicle 7 does not come into contact with the left side wall 6L. Also,
When the vehicle 7 stored as described above is taken out of the garage to the left, the distance between the right side wall 6R and the right side 7R of the vehicle 7 is large, so the steering angle of the rear wheel steering device 1 is changed from the time of departure to the front wheel steering device. The steering angle is controlled in the opposite phase to the steering angle of 2, and the turning radius becomes small, and the vehicle 7 moves as shown in the trajectory B, so that the rear end of the left side 7L of the vehicle 7 does not come into contact with the left side wall 6L due to the inner wheel difference. (You can make small turns.
さらに、車両７の発進直後の回転操舵においても、車両
７の発進からの時間に関係なく車両７の左右両側７Ｌ、
７Ｒ近傍の障害物の有無に応じて、後輪操舵装置１の操
舵角を前輪操舵装置２の操舵角に対し逆位相にするか零
にするかを制御しているので車両７を障害物に接触させ
ることなく、車両７の小回りを可能とする。Furthermore, even in the rotational steering immediately after the vehicle 7 starts, the left and right sides 7L of the vehicle 7, regardless of the time from the start of the vehicle 7,
Depending on the presence or absence of an obstacle near 7R, the steering angle of the rear wheel steering device 1 is controlled to be in the opposite phase to the steering angle of the front wheel steering device 2 or to be zero, so that the vehicle 7 is not obstructed. To enable a vehicle 7 to make a small turn without contacting each other.
以下本発明の実施例を図面を参照して説明すると、第３
図は本発明の通用対象である車両の後輪操舵装置Ａと同
後輪操舵装置Ａの電気的制御装置Ｂを示している。後輪
操舵装置Ａは、エンジンによって駆動される油圧ポンプ
１０と、同油圧ポンプ１０の吐出油をサーボ弁１１を介
して付与されて両後輪１２ａ、１２ｂを駆動する油圧シ
リンダ１３とを備えている。油圧ポンプ１０はその流入
口にて導管Ｐ１を介してリザーバ１４に接続され、その
吐出口にて導管Ｐ２を介してサーボ弁１１に接続されて
いる。サーボ弁１１はその中立位置にて油圧シリンダ１
３の右室１３ａに接続した導管Ｐ３を閉止しかつ同油圧
シリンダの左室１３ｂに接続した導管Ｐ４を閉止し、第
１位置に切換えられたとき導管Ｐ２を導管Ｐ３に接続し
がっ導管Ｐ４を導管Ｐ５を介してリザーバ１４に接続す
る。Below, embodiments of the present invention will be described with reference to the drawings.
The figure shows a rear wheel steering device A of a vehicle to which the present invention is applied and an electric control device B for the rear wheel steering device A. The rear wheel steering device A includes a hydraulic pump 10 driven by an engine, and a hydraulic cylinder 13 to which oil discharged from the hydraulic pump 10 is applied via a servo valve 11 to drive both rear wheels 12a and 12b. There is. The hydraulic pump 10 is connected at its inlet to a reservoir 14 via a conduit P1, and at its outlet to a servo valve 11 via a conduit P2. The servo valve 11 closes the hydraulic cylinder 1 in its neutral position.
The conduit P3 connected to the right chamber 13a of the hydraulic cylinder 3 is closed, and the conduit P4 connected to the left chamber 13b of the same hydraulic cylinder is closed, and when switched to the first position, the conduit P2 is connected to the conduit P3, and the conduit P4 is connected to the conduit P3. is connected to reservoir 14 via conduit P5.
またサーボ弁１１は第２位置に切換えられたとき、導管
Ｐ２を導管Ｐ４に接続しがっ導管Ｐ３を導管Ｐ５を介し
てリザーバ１４に接続する。なお、サーボ弁１１の切り
換え作動は同サーボ弁１１に設けられたトルクモータ（
図示しない）の作動によりもたらされ、またトルクモー
タの作動は電気的制御装置Ｂから付与される制御信号に
よりもたらされる。The servo valve 11 also connects the conduit P2 to the conduit P4 and the conduit P3 to the reservoir 14 via the conduit P5 when the servo valve 11 is switched to the second position. The switching operation of the servo valve 11 is performed by a torque motor (
(not shown), and the operation of the torque motor is brought about by a control signal applied from the electric control device B.
油圧シリンダ１３はその内部に収容したピストン１５に
左右一対のピストンロッド１６ａ、１６ｂを連結してな
り、左方のピストンロッド１６ａはタイロッド１７ａ、
ナックルアーム１８ａを介して後輪１２ａに連結されて
いる。一方、右方のピストンロッド１６ｂはタイロッド
１７ｂ、ナックルアーム１８ｂを介して後輪１２ｂに連
結されている。The hydraulic cylinder 13 has a piston 15 housed therein connected to a pair of left and right piston rods 16a, 16b, and the left piston rod 16a is connected to a tie rod 17a,
It is connected to the rear wheel 12a via a knuckle arm 18a. On the other hand, the right piston rod 16b is connected to the rear wheel 12b via a tie rod 17b and a knuckle arm 18b.
次にサーボ弁１１のトルクモータに上記制御信号を付与
する電気的制御装置Ｂの構成について説明する。この電
気的制御装置Ｂは、変速機の出力軸の回転をピンクアッ
プして車速に対応した車速信号を発生する車速検出器１
９と、前輪の操舵角を検出し前輪が左操舵（反時計方向
）された場合には正に前輪が右操舵（時計方向）された
場合には負になり前輪の操舵角に比例した大きさを有す
る前輪操舵角信号を発生する前輪操舵角検出器２０と、
第２図に示すように車両７の両側後部に設けられ超音波
送受信器等から成り車両７の両側と障害物との距離を検
出して同距離に対応する距離検出信号を発生する一対の
側方距離検出器２１．２１と、これらの各検出器１９．
２０．２１から付与される信号に応じて後述のプログラ
ムを実行するマイクロコンピュータ２２と、ピストンロ
ッド１６ｂの移動量を検出し後輪１２ａ、１２ｂが左操
舵（反時計方向）された場合には正に後輪１２ａ、１２
ｂが右操舵（時計方向）された場合には負になり後輪１
２ａ、Ｌ２ｂの操舵角に比例した大きさを有する後輪操
舵角信号を発生する後輪操舵角検出器２３と、この後輪
操舵角信号と上記マイクロコンピュータ２２からの出力
信号に応答して上記サーボ弁１１を駆動する制御信号を
発生するサーボアンプ２４を備えている。Next, the configuration of the electric control device B that applies the above control signal to the torque motor of the servo valve 11 will be explained. This electrical control device B includes a vehicle speed detector 1 that pinks up the rotation of the output shaft of the transmission and generates a vehicle speed signal corresponding to the vehicle speed.
9 is detected, and if the front wheels are steered to the left (counterclockwise), it will be positive; if the front wheels are steered to the right (clockwise), it will be negative, and it will be a large value proportional to the steering angle of the front wheels. a front wheel steering angle detector 20 that generates a front wheel steering angle signal having a
As shown in FIG. 2, a pair of sides are provided at the rear of both sides of the vehicle 7 and consist of ultrasonic transmitters and receivers, etc., and detect the distance between both sides of the vehicle 7 and an obstacle and generate a distance detection signal corresponding to the same distance. distance detector 21.21 and each of these detectors 19.
20. A microcomputer 22 that executes a program to be described later according to a signal given from rear wheels 12a, 12
When b is steered to the right (clockwise), it becomes negative and rear wheel 1
a rear wheel steering angle detector 23 that generates a rear wheel steering angle signal having a magnitude proportional to the steering angles 2a and L2b; A servo amplifier 24 that generates a control signal to drive the servo valve 11 is provided.
マイクロコンピュータ２２は、上記の各検出器１９．２
０．２１から付与される検出信号を入力しかつサーボア
ンプ２４に演算結果を出力する入出力インターフェース
２２ａと、第４図に示されるフローチャートに対応する
プログラムを記憶する読出し専用メモリ （ＲＯＭ）２
２ｂと、このプログラムを実行する中央処理装置（ＣＰ
Ｕ）２２Ｃと、このプログラムの実行に必要な変数を一
時的に記憶する書込み可能メモリ （ＲＡＭ）２２ｄと
、これら入出力インターフェース２２ａ、読出し専用メ
モリ２２ｂ、中央処理装置２２ｃ及び書込み可能メモリ
２２ｄを各々共通に接続するハス２２ｅを備えている。The microcomputer 22 is connected to each of the above-mentioned detectors 19.2.
An input/output interface 22a that inputs the detection signal given from 0.21 and outputs the calculation result to the servo amplifier 24, and a read-only memory (ROM) 2 that stores a program corresponding to the flowchart shown in FIG.
2b and a central processing unit (CP) that executes this program.
U) 22C, a writable memory (RAM) 22d that temporarily stores variables necessary for executing this program, these input/output interface 22a, read-only memory 22b, central processing unit 22c, and writable memory 22d, respectively. It is provided with a lotus 22e that is commonly connected.
以上のように構成された車両用後輪操舵制御装置の動作
を、第４図のフローチャートを用いて説明する。The operation of the vehicle rear wheel steering control device configured as described above will be explained using the flowchart shown in FIG. 4.
車両の運転中、プログラムは、ステップ３０にて車速検
出器１９からの車速信号に基づき車速Ｕを算出し、次の
ステップ３１にて車速Ｕの値に応じて前輪操舵角に対す
る後輪操舵角の比である操舵比Ｋｉを算出し、この操舵
比Ｋｉを書込み可能メモリ２２ｄに一時的に記憶する。While the vehicle is driving, the program calculates the vehicle speed U based on the vehicle speed signal from the vehicle speed detector 19 in step 30, and calculates the rear wheel steering angle relative to the front wheel steering angle according to the value of the vehicle speed U in the next step 31. A steering ratio Ki is calculated, and this steering ratio Ki is temporarily stored in the writable memory 22d.
この操舵比Ｋｉは車両の停止時及び低速時には負の値（
後輪操舵角が前輪操舵角に対して逆位相）になるように
選定され、車速か増加するに従って負の値から正の値（
後輪操舵角が前輪操舵角に対して同位相）に除々に変化
するように選定されている。This steering ratio Ki takes a negative value (
The rear wheel steering angle is selected so that the phase is opposite to the front wheel steering angle, and as the vehicle speed increases, it changes from a negative value to a positive value (
The steering angle is selected so that the rear wheel steering angle gradually changes in the same phase as the front wheel steering angle.
次にプログラムはステップ３２に進み、ステップ３２に
て前輪操舵角検出器２０からの前輪操舵角信号に基づき
前輪操舵方向を感知し、同方向とは反対側の側方距離検
出器２１から距離検出信号を入力し、前記方向とは反対
側に位置する障害物とそれに対向する車両の一側との距
離７！（第２図参照）を演算測定する。ステップ３２に
て距Ｆ４βの測定を終了すると、プログラムはステップ
３３に進み、ステップ３３にてこの距１ｉｉｔｉｌと所
定値ａを比較し、前記操舵方向とは反対側に位置する障
害物とそれに対向する車両の一側が近接しているか否か
が判別される。なお、上記所定値ａは、例えば、第２図
に示すように車両を最小半径で回転させた場合における
回転方向とは反対側の車両側部後端が張出す距離に対応
する値である。そしてプログラムは、ステップ３３にて
距！ｉ！Ｉ Ｉ！が所定値ａより大きいすなわちｒＹＥ
ｓＪと判別した場合にはステップ３４に進み、ステップ
３４にて目標操舵比Ｋをステップ３Ｉで求めた操舵比Ｋ
ｉに設定し、一方ステップ３３にて距離βが所定値ａよ
り大きくないすなわち「ＮＯ」と判別した場合にはステ
ップ３５に進み、ステップ３５で目標操舵比Ｋを零に設
定する。Next, the program proceeds to step 32, in which the front wheel steering direction is sensed based on the front wheel steering angle signal from the front wheel steering angle detector 20, and the distance is detected from the side distance detector 21 on the opposite side to the same direction. When a signal is input, the distance between an obstacle located on the opposite side of the direction and one side of the vehicle facing it is 7! (See Figure 2) is calculated and measured. When the measurement of the distance F4β is completed in step 32, the program proceeds to step 33, where this distance 1iitil is compared with a predetermined value a, and an obstacle located on the opposite side to the steering direction and an obstacle facing thereto are determined. It is determined whether one side of the vehicle is close. The predetermined value a is, for example, a value corresponding to the distance over which the rear end of the side of the vehicle on the opposite side to the direction of rotation extends when the vehicle is rotated at the minimum radius as shown in FIG. And the program goes to step 33! i! I-I! is larger than the predetermined value a, that is, rYE
If it is determined that the target steering ratio K is sJ, the process proceeds to step 34, where the target steering ratio K is set to the steering ratio K obtained in step 3I.
On the other hand, if it is determined in step 33 that the distance β is not greater than the predetermined value a, that is, "NO", the process proceeds to step 35, where the target steering ratio K is set to zero.
次にプログラムはステップ３６に進み、ステップ３４又
はステップ３５にて求めた目標操舵比にと前輪操舵角検
出器２０からの前輪操舵角信号値とを乗算することによ
り目標後輪操舵角が算出され、この目標後輪操舵角に対
応し、後輪１２ａ。Next, the program proceeds to step 36, where a target rear wheel steering angle is calculated by multiplying the target steering ratio determined in step 34 or step 35 by the front wheel steering angle signal value from the front wheel steering angle detector 20. , corresponding to this target rear wheel steering angle, the rear wheels 12a.
１２ｂを左操舵（反時計方向）する場合には正に右操舵
（時計方向）する場合には負になりその操舵角に比例し
た大きさを有する目標後輪操舵角信号をサーボアンプ２
４に出力する。そしてこの目標後輪操舵角信号は、目標
操舵角比Ｋが正であれば前輪操舵角信号と同符号（前後
輪操舵が同位相）となり、逆に目標操舵角比Ｋが負であ
れば前輪操舵角信号と異符号（前後輪操舵が逆位相）と
なり、又目標操舵角比Ｋが零であれば前輪操舵角信号と
は関係なく零（後輪が直進操舵される）となる。Servo amplifier 2 outputs a target rear wheel steering angle signal which is positive when steering 12b to the left (counterclockwise) and negative when steering right (clockwise) and has a magnitude proportional to the steering angle.
Output to 4. If the target steering angle ratio K is positive, this target rear wheel steering angle signal has the same sign as the front wheel steering angle signal (the front and rear wheels are in the same phase), and conversely, if the target steering angle ratio K is negative, the front wheel steering angle signal It has a different sign from the steering angle signal (the front and rear wheels are steered in opposite phases), and if the target steering angle ratio K is zero, it becomes zero (the rear wheels are steered straight ahead) regardless of the front wheel steering angle signal.
すなわちマイクロコンピュータ２２は、車速検出器１９
、前輪操舵角検出器２０及び側方距離検出器２１の出力
に応答して、前輪操舵方向とは反対側に位置する障害物
とそれに対向する車両の一側との距離が小さい場合には
後輪操舵角が零となるような目標後輪操舵角信号をサー
ボアンプ２４に出力し、前記距離が大きい場合には車両
の停止時及び低速時から車速を増加するに従って後輪操
舵角が前輪操舵角に対し逆位相から同位相に変化するよ
うな目標後輪操舵角信号をサーボアンプ２４に出力して
いる。That is, the microcomputer 22 controls the vehicle speed detector 19
, in response to the outputs of the front wheel steering angle detector 20 and the lateral distance detector 21, if the distance between the obstacle located on the opposite side to the front wheel steering direction and one side of the vehicle facing it is small, the rear A target rear wheel steering angle signal that makes the wheel steering angle zero is output to the servo amplifier 24, and if the distance is large, the rear wheel steering angle changes to the front wheel steering angle as the vehicle speed increases from a stopped or low speed state. A target rear wheel steering angle signal that changes from the opposite phase to the same phase with respect to the angle is output to the servo amplifier 24.
上記のようにサーボアンプ２４に供給される目標後輪操
舵角信号に基づいて、後輪１２ａ、１２ｂが操舵制御さ
れる動作について説明する。後輪操舵角が目標操舵角に
対し左方向（または右方向）にずれている場合には、後
輪操舵角検出器２３からの後輪操舵角信号値がマイクロ
コンピュータ２２からの目標後輪操舵角信号値より大き
くなり（又は小さくなり）、サーボアンプ２４からは負
の値（又は正の値）を有する制御信号がサーボ弁１１の
トルクモータに供給される。この時サーボ弁１１は上述
の第１位置（又は第２位置）に制御され、油圧ポンプ１
０からの吐出油は右室１３ａ （又は左室１３ｂ）に供
給され、ピストン１５に連結されたピストンロッド１６
ａ、１６ｂを第３図下方向（又は上方向）に移動させ後
輪１２ａ、１２ｂを右回転（又は左回転）操舵させる。The operation of controlling the steering of the rear wheels 12a and 12b based on the target rear wheel steering angle signal supplied to the servo amplifier 24 as described above will be described. When the rear wheel steering angle deviates leftward (or rightward) from the target steering angle, the rear wheel steering angle signal value from the rear wheel steering angle detector 23 corresponds to the target rear wheel steering angle from the microcomputer 22. The control signal becomes larger (or smaller) than the angle signal value, and the servo amplifier 24 supplies a control signal having a negative value (or positive value) to the torque motor of the servo valve 11 . At this time, the servo valve 11 is controlled to the above-mentioned first position (or second position), and the hydraulic pump 1
The oil discharged from 0 is supplied to the right chamber 13a (or left chamber 13b), and the piston rod 16 connected to the piston 15
a, 16b are moved downward (or upward) in FIG. 3, and the rear wheels 12a, 12b are steered clockwise (or counterclockwise).
また、後輪操舵角が目標操舵角と一致している場合には
、後輪操舵角検出器２３からの後輪操舵角信号値とマイ
クロコンピュータ２２からの目標後輪操舵角信号値が一
致し、サーボアンプ２４からは零値を有する制御信号が
サーボ弁１１のトルクモータに供給され、サーボ弁１１
は上述の中立位置に制御され、両室１３ａ、１３ｂには
油圧ポンプ１０がら吐出油が供給されず、ピストン１５
に連結されたピストンロッド１６ａ、１６ｂとともに後
輪１２ａ、１２ｂは静止した状態となる。Further, when the rear wheel steering angle matches the target steering angle, the rear wheel steering angle signal value from the rear wheel steering angle detector 23 and the target rear wheel steering angle signal value from the microcomputer 22 match. , a control signal having a zero value is supplied from the servo amplifier 24 to the torque motor of the servo valve 11.
is controlled to the above-mentioned neutral position, no discharge oil is supplied from the hydraulic pump 10 to both chambers 13a and 13b, and the piston 15
The rear wheels 12a, 12b are in a stationary state together with the piston rods 16a, 16b connected to the rear wheels 12a, 12b.
そして上記動作説明からも理解されるように、マイクロ
コンピュータ２２により車両の停止時及び低速時に前輪
操舵角に対し逆位相になる目標後輪操舵角を算出すると
ともに、前輪操舵方向と反対側に位置する障害物とそれ
に対向する車両の一側との距離が小さい場合には目標後
輪操舵角を零に設定するようにし、油圧ポンプ１０、サ
ーボ弁１１、油圧シリンダ１３、後輪操舵角検出器２３
及びサーボアンプ２４により後輪１２ａ、１２．ｂを目
標後輪操舵角に操舵させるようにしたので、車両の発進
からの時間には関係なく障害物の存在の有無に応じて適
切な車両の後輪操舵を行なうことができる。As can be understood from the above operation description, the microcomputer 22 calculates a target rear wheel steering angle that is in the opposite phase to the front wheel steering angle when the vehicle is stopped or at low speed, and also calculates a target rear wheel steering angle that is in the opposite phase to the front wheel steering angle when the vehicle is stopped or at low speed. When the distance between the obstacle to be hit and one side of the vehicle facing it is small, the target rear wheel steering angle is set to zero, and the hydraulic pump 10, servo valve 11, hydraulic cylinder 13, rear wheel steering angle detector 23
and the rear wheels 12a, 12. Since the rear wheels b are steered to the target rear wheel steering angle, the rear wheels of the vehicle can be appropriately steered depending on the presence or absence of an obstacle, regardless of the time since the vehicle started.
また、上述の実施例では第２図に示すように一対の側方
距離検出器２１．２１を車両７の両側後部に設けるよう
にしたが、これらの側方距離検出器２１．２１を車両７
の両側中央部又は前部に設けるようにしてもよい。Furthermore, in the above embodiment, as shown in FIG.
It may be provided at the center of both sides or at the front.
さらに一対の側方距離検出器２１．２１を設けなくても
、第５図に示すように車両７の後部の中央に回転制御装
置４０を介して単一の距離検出器４１を設け、回転制御
装置４０により距離検出器４Ｉを回転させ、車両７の両
側にある障害物４２゜４２と車両７の両側との距離を測
定するようにして距離検出器の個数の節約を図ることも
できる。Furthermore, even without providing a pair of lateral distance detectors 21, 21, a single distance detector 41 is provided in the center of the rear of the vehicle 7 via a rotation control device 40 as shown in FIG. It is also possible to save the number of distance detectors by rotating the distance detectors 4I by means of the device 40 and measuring the distances between the obstacles 42.42 on both sides of the vehicle 7 and both sides of the vehicle 7.
この場合には第４図に示すフローチャートのステップ３
２におけるプログラムの実行において、回転制御装置４
０により距離検出器４１を前輪操舵方向とは反対方向に
回転させ、障害物との距離！。In this case, step 3 of the flowchart shown in FIG.
In executing the program in 2, the rotation control device 4
0, the distance detector 41 is rotated in the opposite direction to the front wheel steering direction, and the distance to the obstacle is determined! .
を測定すると同時に距離検出器４１から車両７の一側ま
での距離β′′を減算して障害物４２と車両７の一側と
の距離βを算出するとよい。It is preferable to calculate the distance β between the obstacle 42 and one side of the vehicle 7 by subtracting the distance β″ from the distance detector 41 to one side of the vehicle 7 at the same time as measuring the distance β″.
第１図は特許請求の範囲に記載した発明の構成の対応図
、第２図は車両を車庫内に収容した図、第３図は本発明
の具体的実施例を示す車両用後輪操舵制御装置の要部概
略図、第４図は第３図に示すマイクロコンピュータのプ
ログラムの動作を示すフローチャート、第５図は他の実
施例に係る車両を示す図である。
符号の説明
１０・・・油圧ポンプ、１１・・・サーボ弁、１２ａ、
１２ｂ・・・後輪、１３・・・油圧シリンダ、１５・・
・ピストン、１６ａ、１６ｂ・・・ピストンロッド、１
９・・・車速検出器、２ｏ・・・前輪操舵角検出器、２
１・−・側方距離検出器、２２・・・マイクロコンピュ
ータ、２３・・・後輪操舵角検出器、２４・・・サーボ
アンプ。
［４Ｂ
ｇｓＥFIG. 1 is a diagram corresponding to the structure of the invention described in the claims, FIG. 2 is a diagram of a vehicle housed in a garage, and FIG. 3 is a rear wheel steering control for a vehicle showing a specific embodiment of the present invention. FIG. 4 is a flowchart showing the operation of the program of the microcomputer shown in FIG. 3, and FIG. 5 is a diagram showing a vehicle according to another embodiment. Explanation of symbols 10...Hydraulic pump, 11...Servo valve, 12a,
12b...Rear wheel, 13...Hydraulic cylinder, 15...
・Piston, 16a, 16b...Piston rod, 1
9...Vehicle speed detector, 2o...Front wheel steering angle detector, 2
1... Side distance detector, 22... Microcomputer, 23... Rear wheel steering angle detector, 24... Servo amplifier. [4B gsE
Claims (3)
舵角に対して同車両の停止時及び低速時に逆位相に制御
する電気的制御手段を備えてなる車両用後輪操舵制御装
置において、前記前輪操舵装置の操舵方向とは反対側に
位置する障害物とそれに対向する前記車両の一側との距
離を検出してその検出値を表わす検出信号を出力する側
方距離検出装置と、該側方距離検出装置から付与される
前記検出信号の値が所定値以下のとき前記前輪操舵装置
の操舵角とは無関係に前記後輪操舵装置の操舵角を零に
維持して前記検出信号の値が前記所定値より大きくなっ
たとき前記電気的制御手段の機能を許容する制御手段と
を設けたことを特徴とする車両用後輪操舵制御装置。(1) A rear wheel steering control device for a vehicle, comprising an electric control means that controls the steering angle of the rear wheel steering device of the vehicle to be in an opposite phase to the steering angle of the front wheel steering device when the vehicle is stopped and at low speed. , a lateral distance detection device that detects a distance between an obstacle located on a side opposite to the steering direction of the front wheel steering device and one side of the vehicle facing the obstacle and outputs a detection signal representing the detected value; , when the value of the detection signal given from the lateral distance detection device is less than or equal to a predetermined value, the steering angle of the rear wheel steering device is maintained at zero regardless of the steering angle of the front wheel steering device, and the detection signal is A rear wheel steering control device for a vehicle, further comprising a control means for allowing the function of the electric control means when the value of the electric control means becomes larger than the predetermined value.
れて各々それに対向する障害物との距離を検出する一対
の距離検出器により構成したことを特徴とする特許請求
の範囲第１項記載の車両用後輪操舵制御装置。(2) Claim 1, characterized in that the lateral distance detection device is constituted by a pair of distance detectors provided on both sides of the vehicle, each detecting a distance to an obstacle facing the vehicle. The vehicle rear wheel steering control device described above.
能に設けられ同車両の左右両側に対向する障害物との距
離を検出する単一の距離検出器により構成したことを特
徴とする特許請求の範囲第１項記載の車両用後輪操舵制
御装置。(3) The lateral distance detection device is configured by a single distance detector that is rotatably installed in a part of the vehicle and detects the distance to obstacles facing on both left and right sides of the vehicle. A rear wheel steering control device for a vehicle according to claim 1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP60022667A JPS61181778A (en) | 1985-02-07 | 1985-02-07 | Rear-wheel steering controller for vehicles |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP60022667A JPS61181778A (en) | 1985-02-07 | 1985-02-07 | Rear-wheel steering controller for vehicles |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS61181778A true JPS61181778A (en) | 1986-08-14 |
Family
ID=12089199
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP60022667A Pending JPS61181778A (en) | 1985-02-07 | 1985-02-07 | Rear-wheel steering controller for vehicles |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS61181778A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01106344U (en) * | 1988-01-08 | 1989-07-18 | ||
| JPH02106473A (en) * | 1988-10-13 | 1990-04-18 | Isuzu Motors Ltd | Attitude display device for four-wheel steering vehicle |
| JPH02128966A (en) * | 1988-11-10 | 1990-05-17 | Mitsubishi Electric Corp | Rear wheel steering control device of vehicle |
| JP2009166524A (en) * | 2008-01-10 | 2009-07-30 | Toyota Motor Corp | Steering control device of vehicle equipped with four-wheel steering mechanism |
| CN110356468A (en) * | 2018-04-11 | 2019-10-22 | 株式会社捷太格特 | Four-wheel steering manipulation device |
| CN110356469A (en) * | 2018-04-11 | 2019-10-22 | 株式会社捷太格特 | Four-wheel steering manipulation device |
| JP2020037315A (en) * | 2018-09-04 | 2020-03-12 | 日立オートモティブシステムズ株式会社 | Steering device |
| CN112158256A (en) * | 2020-09-17 | 2021-01-01 | 中国第一汽车股份有限公司 | Control method for rear wheel steering during low-speed running of vehicle |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61135866A (en) * | 1984-12-04 | 1986-06-23 | Daihatsu Motor Co Ltd | Four-wheel steering device |
-
1985
- 1985-02-07 JP JP60022667A patent/JPS61181778A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61135866A (en) * | 1984-12-04 | 1986-06-23 | Daihatsu Motor Co Ltd | Four-wheel steering device |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01106344U (en) * | 1988-01-08 | 1989-07-18 | ||
| JPH02106473A (en) * | 1988-10-13 | 1990-04-18 | Isuzu Motors Ltd | Attitude display device for four-wheel steering vehicle |
| JPH02128966A (en) * | 1988-11-10 | 1990-05-17 | Mitsubishi Electric Corp | Rear wheel steering control device of vehicle |
| JP2009166524A (en) * | 2008-01-10 | 2009-07-30 | Toyota Motor Corp | Steering control device of vehicle equipped with four-wheel steering mechanism |
| JP2019182232A (en) * | 2018-04-11 | 2019-10-24 | 株式会社ジェイテクト | Four-wheel steering device |
| CN110356469A (en) * | 2018-04-11 | 2019-10-22 | 株式会社捷太格特 | Four-wheel steering manipulation device |
| CN110356468A (en) * | 2018-04-11 | 2019-10-22 | 株式会社捷太格特 | Four-wheel steering manipulation device |
| JP2019182234A (en) * | 2018-04-11 | 2019-10-24 | 株式会社ジェイテクト | Four wheel steering device |
| CN110356469B (en) * | 2018-04-11 | 2023-02-17 | 株式会社捷太格特 | Four-wheel steering control device |
| US11591014B2 (en) | 2018-04-11 | 2023-02-28 | Jtekt Corporation | Four-wheel steering system |
| JP2020037315A (en) * | 2018-09-04 | 2020-03-12 | 日立オートモティブシステムズ株式会社 | Steering device |
| CN112158256A (en) * | 2020-09-17 | 2021-01-01 | 中国第一汽车股份有限公司 | Control method for rear wheel steering during low-speed running of vehicle |
| WO2022057146A1 (en) * | 2020-09-17 | 2022-03-24 | 中国第一汽车股份有限公司 | Control method for rear wheel steering in low-speed traveling of vehicle |
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