JPS63121571A - Four-wheel steering vehicle - Google Patents
Four-wheel steering vehicleInfo
- Publication number
- JPS63121571A JPS63121571A JP25354987A JP25354987A JPS63121571A JP S63121571 A JPS63121571 A JP S63121571A JP 25354987 A JP25354987 A JP 25354987A JP 25354987 A JP25354987 A JP 25354987A JP S63121571 A JPS63121571 A JP S63121571A
- Authority
- JP
- Japan
- Prior art keywords
- steering angle
- target
- signal
- steering
- rear wheels
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000001514 detection method Methods 0.000 claims abstract description 24
- 230000007246 mechanism Effects 0.000 description 13
- 238000006073 displacement reaction Methods 0.000 description 6
- 230000008859 change Effects 0.000 description 5
- 230000007423 decrease Effects 0.000 description 4
- 230000000994 depressogenic effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000004044 response Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000007935 neutral effect 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
- B62D7/1554—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 fluid interconnecting system between the steering control means of the different axles
- B62D7/1572—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 fluid interconnecting system between the steering control means of the different axles provided with electro-hydraulic control means
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、後輪操舵機構の制御装置に特徴を有する４輪
操舵車両に関するものである。DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a four-wheel steering vehicle having a feature in a control device for a rear wheel steering mechanism.
（従来の技術）
従来の車両操舵機構は、前輪側のみまたは後輪側のみに
設けて、前輪または後輪の一方のみを操舵するのが通例
であるが、最近では、前輪操舵に関連させて後輪を自動
的に連動せしめ、後輪を前輪の操舵方向とは逆方向に即
ち逆相操舵するようにして、低速走行時における車両の
旋回性能を高めた前後輪操舵機構を有する４輪操舵車両
とし、また、前輪と後輪の両操舵機構を機械的な連動機
構で連動せしめ、前輪舵角が所定舵角に達するまでは前
輪と同相方向に即ち同相操舵で後輪を操舵し、前輪が所
定舵角を越えると前輪と逆相方向の逆相操舵で後輪を操
舵する前後輪操舵機構を有する４輪操舵車両も開発され
ている。(Prior Art) Conventional vehicle steering mechanisms are usually provided only on the front wheels or only on the rear wheels to steer only one of the front wheels or the rear wheels. A four-wheel steering system that has a front and rear wheel steering mechanism that automatically links the rear wheels and steers the rear wheels in the opposite direction to the steering direction of the front wheels, that is, in the opposite phase, thereby improving the turning performance of the vehicle when driving at low speeds. In addition, both the front wheel and rear wheel steering mechanisms are linked by a mechanical interlocking mechanism, and the rear wheels are steered in the same phase direction as the front wheels, that is, by in-phase steering, until the front wheel steering angle reaches a predetermined steering angle. A four-wheel steering vehicle has also been developed that has a front and rear wheel steering mechanism that steers the rear wheels by reverse-phase steering in a direction opposite to that of the front wheels when the steering angle exceeds a predetermined steering angle.
（発明が解決しよりとする問題点）
従来の前記４輪操舵車両において、後輪を前輪に対して
逆方向つまり逆相操舵する場合は、特に低速走行時の車
両の旋回半径が短縮されて車両の小回り性が高められ、
同方向つまり同相操舵する場合は、特に高速旋回時に後
輪にコーナリングフェースを積極的に発生させて車両の
操縦安定性が高められる長所が知られているが、車両走
行時の旋回中にアクセルを急に離すと旋回半径が小さく
なる方向へ巻込まれるタックインや、アクセルを急に踏
込むと旋回半径が大きくなる方向へ変化するドリフトア
ウトが発生し、エンジン負荷の変化に対応機能がなく安
定性、操安性等の問題点がある。(Problems to be Solved by the Invention) In the conventional four-wheel steering vehicle, when the rear wheels are steered in the opposite direction to the front wheels, that is, in reverse phase, the turning radius of the vehicle is shortened, especially when driving at low speeds. The vehicle's maneuverability is improved,
When steering in the same direction, that is, in phase, it is known that the advantage of actively generating a cornering face on the rear wheels especially when turning at high speed increases the steering stability of the vehicle. If you release the accelerator suddenly, the turning radius will become smaller (tuck-in), and if you suddenly press the accelerator, the turning radius will become larger (drift-out), which will cause stability problems as there is no ability to respond to changes in engine load. There are problems with maneuverability, etc.
（問題点の解決手段）
本発明は、前述のような問題点に対処するために開発さ
れた４＠操舵車両であって、前輪の操舵状態を検出する
操舵状態検出手段と、同操舵状態検出手段の検出により
検出状態に応じた目標後輪舵角な得る制御出力を発する
制御手段と、同制御手段から発せられる前記制御出力を
受けて後輪を操舵する後輪操舵手段を備えた４輪操舵車
両において、エンジンの負荷状態を検出する負荷状態検
出手段を設け、前記制御手段は前記負荷状態検出手段に
よって検出されるエンジン負荷状態の変化に応じて前記
目標後輪舵角を補正する構成にした構成とし、エンジン
負荷の変化に対応させて目標後輪舵角を補正制御可能に
して、安定したステア特性および操安性を得て操舵性能
、作動信頼性を向上させている。(Means for Solving Problems) The present invention is a 4@steering vehicle developed in order to deal with the above-mentioned problems, and includes a steering state detection means for detecting the steering state of the front wheels, and a steering state detection means for detecting the steering state of the front wheels. A four-wheel vehicle comprising: a control means that outputs a control output to obtain a target rear wheel steering angle according to a detected state by detection by the means; and a rear wheel steering means that receives the control output from the control means and steers the rear wheels. In the steered vehicle, a load state detection means for detecting a load state of the engine is provided, and the control means is configured to correct the target rear wheel steering angle according to a change in the engine load state detected by the load state detection means. This configuration enables corrective control of the target rear wheel steering angle in response to changes in engine load, resulting in stable steering characteristics and steering stability, improving steering performance and operational reliability.
（作 用）
負荷状態検出手段によるエンジン負荷状態の変化検出に
応じて、制御出力、即ち目標後輪舵角が補正制御され、
走行時の旋回中にアクセルを急に離すと発生する旋回半
径が小さくなる方向への巻込み、即ちタックインが解消
されるとともに、°アクセルを急に踏込むと発生する旋
回半径が大きくなる方向への変化、即ちドリフトアウト
が解消されて、車両の旋回が円滑となり安定したステア
特性および操安性が得られる。(Function) In response to the detection of a change in the engine load state by the load state detection means, the control output, that is, the target rear wheel steering angle, is corrected and controlled;
The tuck-in, which occurs when the accelerator is suddenly released while turning while driving, reduces the turning radius, and the turning radius becomes larger when the accelerator is suddenly depressed. As a result, changes in the steering angle, that is, drift-out, are eliminated, and the vehicle turns smoothly, resulting in stable steering characteristics and maneuverability.
（実施例）
第１図ないし第３図に本発明の一実施例を示し、図中（
１）は前輪の操舵ハンドル、（２）は前輪の旋回方向お
よび実舵角の操舵状態を検出する操舵状態検出手段、即
ち検出器、（３）は検出器（２）の検出信号Ａを入力し
前輪の実舵角が設定された所定角度以上に達した際に制
御信号Ｃを発する制御手段、即ち制御機構、（４）は制
御信号Ｃにより制御されるサーボパルプ、（５）はサー
ボパルプ（４）によって作動され後輪を操舵する油圧シ
リンダ、（６）は油圧シリンダ（５）に作動油圧を供給
するオイルポンプ、（７）はオイルポンプ（６）とサー
ボパルプ（４）に連設されたオイルタンク、（８）は油
圧シリンダ（５）の変位を検出する変位検出器であって
、後輪操舵手段、即ち後輪操舵機構（９）になっており
、前輪の操舵状態を検出する操舵状態検出手段（２）と
、操舵状態検出手段（２）の検出Ａにより検出状態に応
じた目標後輪舵角を得る制御出力Ｃを発する制御手段（
３）と、制御手段（３１から発せられる前記制御出力Ｃ
を受けて後輪を操舵する後輪操舵手段（９）を備えた４
輪操舵車両において、エンジンの負荷状態を検出する負
荷状態検出手段（２Ｔ）を設け、前記制御手段（３）は
負荷状態検出手段（２Ｔ）によって検出される負荷状態
の変化に応じて前記目標後輪舵角を補正する構成にした
４輪操舵車両になっている。(Embodiment) An embodiment of the present invention is shown in FIGS. 1 to 3, and (
1) is a front wheel steering handle, (2) is a steering state detection means for detecting the steering state of the turning direction and actual steering angle of the front wheels, that is, a detector, and (3) is an input of the detection signal A of the detector (2). A control means, that is, a control mechanism, that issues a control signal C when the actual steering angle of the front wheels reaches a predetermined angle or more, (4) a servo pulp controlled by the control signal C, and (5) a servo pulp (4) is a hydraulic cylinder that is operated to steer the rear wheels, (6) is an oil pump that supplies hydraulic pressure to the hydraulic cylinder (5), and (7) is connected to the oil pump (6) and servo pulp (4). The oil tank (8) is a displacement detector that detects the displacement of the hydraulic cylinder (5), and serves as a rear wheel steering means, that is, a rear wheel steering mechanism (9), which detects the steering state of the front wheels. a steering state detecting means (2) for detecting a steering state; and a control means (2) for emitting a control output C for obtaining a target rear wheel steering angle according to the detected state by the detection A of the steering state detecting means (2).
3) and the control output C issued from the control means (31).
4, comprising a rear wheel steering means (9) for steering the rear wheels according to the
The wheel-steering vehicle is provided with a load state detection means (2T) for detecting the load state of the engine, and the control means (3) adjusts the load state after the target according to the change in the load state detected by the load state detection means (2T). It is a four-wheel steering vehicle configured to correct the wheel steering angle.
制御手段（３）および後輪操舵手段（９）について詳述
すると、検出器（２）の検出信号、即ち前輪の旋回方向
を含む実舵角信号Ａを入力して予め設定されている関係
により後輪の目標舵角信号Ｂを計算する目標舵角設定器
（３□）を有し、目標舵角設定器に比例した制御信号Ｏ
５即ち目標後輪舵角を得る制御出力が出力され、制御信
号Ｃによりサーボパルプ（４）を制御し油圧シリンダ（
５）を作動し【後輪が目標とする舵角Ｄユになるように
ストロークせしめ、油圧シリンダ（５）の変位を変位検
出器（８）で検出して変位信号りを出力し、実後輪舵角
設定器（３□）によりて前記変位信号りからステアリン
グリンケージ等により決る既知の関係から後輪の実舵角
信号りが算出され、比較設定器（３３）によって目標舵
角信号Ｂと実舵角信号Ｄ′を比較し、側腕信号設定器（
３４）で目標舵角信号Ｂを後輪の実舵角に合致させて修
正された制御信号Ｃ１即ち制御出力が得られる。In detail, the control means (3) and the rear wheel steering means (9) are controlled according to a preset relationship by inputting the detection signal of the detector (2), that is, the actual steering angle signal A including the turning direction of the front wheels. It has a target steering angle setter (3□) that calculates a target steering angle signal B for the rear wheels, and a control signal O proportional to the target steering angle setter.
5, that is, a control output for obtaining the target rear wheel steering angle is output, and the control signal C controls the servo pulp (4) and the hydraulic cylinder (
5), the rear wheels are stroked so that the target steering angle D is reached, the displacement of the hydraulic cylinder (5) is detected by the displacement detector (8), and a displacement signal is output. The wheel steering angle setting device (3□) calculates the actual steering angle signal of the rear wheels from the displacement signal based on the known relationship determined by the steering linkage, etc., and the comparison setting device (33) calculates the actual steering angle signal B and the target steering angle signal. Compare the actual steering angle signal D' and set the side arm signal setting device (
In step 34), the target steering angle signal B is matched with the actual steering angle of the rear wheels to obtain a corrected control signal C1, that is, a control output.
さらに、制御信号Ｃによる前輪の実舵角Ａ１に対する後
輪の舵角Ｄ工の制御関係は、第３図に示すように前輪の
実舵角へが０から設定された所定角度±θ□までの範囲
内では、即ち前輪の舵角が設定された所定角度以上であ
ることが検出されない場合には、後輪の目標舵角設定器
（３□）よりの目標舵角信号Ｂを発生しない即ち制御信
号Ｃが出力されず後輪が連動操舵されない。即ち前輪が
操舵されても後輪を操舵する制御出力、即ち制御信号Ｃ
を発しない不感帯が設けられ、前輪舵角の中立付近にお
ける操舵の安定性が高められている。Furthermore, the control relationship of the steering angle D of the rear wheels with respect to the actual steering angle A1 of the front wheels by the control signal C is as shown in Fig. 3, from 0 to a predetermined angle ±θ□. Within this range, that is, if it is not detected that the front wheel steering angle is equal to or greater than the set predetermined angle, the target steering angle signal B from the rear wheel target steering angle setting device (3□) is not generated. Control signal C is not output and the rear wheels are not interlocked steered. In other words, even if the front wheels are steered, the control output that steers the rear wheels, that is, the control signal C
A dead zone is provided in which no noise is emitted, increasing steering stability near neutral front wheel steering angle.
また、前輪の実舵角Ａ工が所定角度±θ□に達した時に
目標舵角信号Ｂを発し、 制御信号Ｃは目標後輪舵角を
得る制御出力として出力され、該制御信号Ｃにより制御
されるサーボパルプ（４）が油圧シリンダ（５）を作動
し、後輪の舵角Ｄ工、即ちその実舵角に自動的に連動操
舵する。Furthermore, when the actual steering angle A of the front wheels reaches a predetermined angle ±θ□, a target steering angle signal B is generated, and a control signal C is output as a control output to obtain the target rear wheel steering angle. The servo pulp (4) operated by the hydraulic cylinder (5) automatically performs steering in conjunction with the steering angle D of the rear wheels, that is, the actual steering angle.
さらに、本発明においては、エンジンの負荷状態を検出
する負荷状態検出手段（２Ｔ）を設けた構成に特徴を有
し、該負荷状態検出手段（２Ｔ）について詳述すると、
前輪の実舵角信号Ａ、車速信号Ｅとともに、同時にアク
セルベタルまたはエンジンスロットルに付設のスロット
ル開度検出器（２Ｔ）を設け、該スロットル開度検出器
（２Ｔ）によって検出されたスロットル開度信号Ｔが制
御要素として制御機構（３）に入力され、スロットル開
度Ｔの急激な増減変化の場合に、目標後輪操舵角を直ち
に補正する制御信号Ｃに計算される。Furthermore, the present invention is characterized by a configuration in which a load state detection means (2T) for detecting the load state of the engine is provided, and the load state detection means (2T) will be described in detail as follows.
Along with the front wheel actual steering angle signal A and vehicle speed signal E, a throttle opening detector (2T) attached to the accelerator pedal or engine throttle is provided at the same time, and the throttle opening signal detected by the throttle opening detector (2T) is provided. T is input to the control mechanism (3) as a control element, and is calculated into a control signal C that immediately corrects the target rear wheel steering angle in the case of a rapid increase or decrease change in the throttle opening degree T.
該制御は、スロットル開度の急激な増減変化がない場合
、即ちアクセルを急激に操作しない場合は、車速信号Ｅ
をパラメータとし前輪の実舵角Ａ□から後輪の目標舵角
信号Ｂが出力され、該信号已に基づき制御信号Ｃが出力
される。This control is performed based on the vehicle speed signal E when there is no rapid increase or decrease in the throttle opening, that is, when the accelerator is not suddenly operated.
A target steering angle signal B for the rear wheels is outputted from the actual steering angle A□ of the front wheels using the parameter A, and a control signal C is outputted based on the signal width.
また、前、後輪とも操舵されている状態であっである車
速以上の時に、設定値以上のスロットル開度の増ΔＴが
あった場合には、直ちに後輪の目標舵角信号Ｂが補正さ
れる。Furthermore, if the front and rear wheels are both being steered and the vehicle speed is above a certain level, if there is an increase ΔT in the throttle opening that is greater than the set value, the target steering angle signal B for the rear wheels is immediately corrected. Ru.
即ち、第３図に示す前輪の舵角θ２、後輪舵角α２で車
速Ｅ□〜Ｅ２にて旋回中に、例えばスロットル（アクセ
ル）が全開になった場合には、前輪の舵角θ２が一定の
ままでも、後輪舵角がα２→α；へ（イ魚）小さくなる
ように補正され、タックインが起き難くなるようにし、
逆に同じ旋回中に舵角Ｄ０を僅かに増大α２→α２する
補正をして、車両のト９リフトアウトが防止される。That is, for example, when the throttle (accelerator) is fully opened while turning at a vehicle speed of E□ to E2 with the front wheel steering angle θ2 and the rear wheel steering angle α2 shown in FIG. 3, the front wheel steering angle θ2 becomes Even if it remains constant, the rear wheel steering angle is corrected to decrease from α2 to α;, making it difficult for tuck-in to occur.
Conversely, during the same turning, the steering angle D0 is corrected by slightly increasing α2→α2, thereby preventing the vehicle from lifting out.
より低速（０〜Ｅ工）では、このスロットル開度信号Ｔ
による後輪の舵角制御が不要であり、また、スロットル
開度がある値（ΔＴ）以上にて増減になった時のみ、前
記補正が行なわれる。At lower speeds (0 to E), this throttle opening signal T
It is not necessary to control the steering angle of the rear wheels by the above-described method, and the correction is performed only when the throttle opening increases or decreases by a certain value (ΔT) or more.
具体的に説明すると、車両走行時の旋回中にアクセルを
急に離すと発生する旋回半径が小さくなる方向への巻込
み（タックイン）およびアクセルを急に踏込むと発生す
る旋回半径が大きくなる方向への変化（ドリフトアウト
）が、スロットル開度信号Ｔによる目標後輪舵角の補正
で起らないように防止される。Specifically, tuck-in occurs in the direction where the turning radius becomes smaller when the accelerator is suddenly released while the vehicle is turning while the vehicle is turning, and tuck-in occurs in the direction where the turning radius becomes larger when the accelerator is suddenly depressed. (drift out) is prevented from occurring by correcting the target rear wheel steering angle using the throttle opening signal T.
また、車速計（図示省略）によって検出された車速信号
Ｅを制御機構（３）の目標舵角設定器（３□）に入力し
、第３図に示すように該車速信号Ｅによって目標舵角設
定器（３□）から出力される後輪の目標舵角設定器に比
例した制御信号Ｃが出力され、前輪の実舵角Ａいが±θ
□に達すると後輪の舵角Ｄ０が逆相操舵となり、車速が
Ｏ−＋ Ｅ４に順次高くなるにつれて後輪の舵角Ｄ工が
小さくなる図示のような設定になるとともに、車速がＥ
４〜Ｅ６とさらに高くなると、後輪の舵角Ｄ□が前輪に
対し同相操舵となりて、低速走行時の車速度合に応じて
後輪の舵角Ｐ□が変わり旋回程度が車速に対応して円滑
となる利点を有し、高速になって前輪の実舵角Ａ１を大
きくとった場合には、前輪と同方向に後輪が僅かに適量
だけ操舵されてオーバステアが回避され車両の安定性が
高められる。即ち、車速に対応して後輪の設定角度も増
減変化して連動操舵範囲がさらに適切に制御される。In addition, the vehicle speed signal E detected by the vehicle speed meter (not shown) is input to the target steering angle setting device (3□) of the control mechanism (3), and as shown in FIG. 3, the vehicle speed signal E is used to set the target steering angle. A control signal C proportional to the rear wheel target steering angle setting device output from the setting device (3□) is output, and the actual steering angle A of the front wheels is ±θ.
When the steering angle D0 of the rear wheels reaches □, the steering angle D0 of the rear wheels becomes reverse phase steering, and as the vehicle speed increases sequentially to O-+E4, the steering angle D of the rear wheels becomes smaller as shown in the figure, and the vehicle speed becomes E4.
When the steering angle becomes higher from 4 to E6, the steering angle D□ of the rear wheels becomes in-phase steering with respect to the front wheels, and the steering angle P□ of the rear wheels changes according to the vehicle speed when driving at low speeds, and the degree of turning corresponds to the vehicle speed. When the actual steering angle A1 of the front wheels becomes large at high speeds, the rear wheels are steered by a slightly appropriate amount in the same direction as the front wheels, avoiding oversteer and improving the stability of the vehicle. is enhanced. That is, the set angle of the rear wheels is also increased or decreased in accordance with the vehicle speed, thereby controlling the interlocking steering range more appropriately.
（発明の効果）
本発明は、前述のよ５な構成になっており、負荷状態検
出手段によるエンジン負荷状態の変化検出によって目標
後輪舵角が補正制御され、エンジン負荷状態により発生
するステア特性の変化、即ち、走行時の旋回中にアクセ
ルを急に離すと発生する旋回半径が小さくなる方向への
巻込み即ちタックインが防止され、アクセルを急に踏込
むと発生する旋回半径が大きくなる方向への変化、即ち
ドリフトアウト等が防止されて、安定したステア特性お
よび操安性が得られ操舵性能、作動信頼性が著しく向上
されている。(Effects of the Invention) The present invention has the above-mentioned configuration, in which the target rear wheel steering angle is corrected and controlled by detecting a change in the engine load state by the load state detection means, and the steering characteristic caused by the engine load state is controlled. In other words, tuck-in, which occurs when the accelerator is suddenly released while turning while driving, in the direction that reduces the turning radius, is prevented, and tuck-in, which occurs when the accelerator is suddenly depressed, is prevented. Changes to the steering wheel, that is, drift out, etc., are prevented, stable steering characteristics and steering stability are obtained, and steering performance and operational reliability are significantly improved.
以上本発明を実施例について説明したが、勿論本発明は
このような実施例にだけ局限されるものではなく、本発
明の精神を逸脱しない範囲内で種種の設計の改変を施し
うるものである。Although the present invention has been described above with reference to embodiments, it goes without saying that the present invention is not limited to such embodiments, and that various design modifications can be made without departing from the spirit of the present invention. .
第１図は本発明の一実施例を示す全体の機構配置図、第
２図は制御機構図、第３図は制御特性図である。
２：操舵状態検出手段（検出器）
２Ｔ：負荷状態検出手段（スロットル開度検出器）３：
制御手段（制御機構）FIG. 1 is an overall mechanism layout diagram showing one embodiment of the present invention, FIG. 2 is a control mechanism diagram, and FIG. 3 is a control characteristic diagram. 2: Steering condition detection means (detector) 2T: Load condition detection means (throttle opening degree detector) 3:
Control means (control mechanism)
Claims (1)
状態検出手段の検出により検出状態に応じた目標後輪舵
角を得る制御出力を発する制御手段と、同制御手段から
発せられる前記制御出力を受けて後輪を操舵する後輪操
舵手段を備えた４輪操舵車両において、エンジンの負荷
状態を検出する負荷状態検出手段を設け、前記制御手段
は前記負荷状態検出手段によって検出されるエンジン負
荷状態の変化に応じて前記目標後輪舵角を補正する構成
にしたことを特徴とする４輪操舵車両。Steering state detection means for detecting the steering state of the front wheels; control means for emitting a control output for obtaining a target rear wheel steering angle according to the detected state by detection by the steering state detection means; and the control output emitted from the control means. The four-wheel steering vehicle is equipped with a rear wheel steering means for steering the rear wheels based on the engine load, and includes a load state detection means for detecting a load state of the engine, and the control means controls the engine load detected by the load state detection means. A four-wheel steering vehicle, characterized in that the target rear wheel steering angle is corrected in accordance with changes in conditions.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP25354987A JPS63121571A (en) | 1987-10-09 | 1987-10-09 | Four-wheel steering vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP25354987A JPS63121571A (en) | 1987-10-09 | 1987-10-09 | Four-wheel steering vehicle |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP11549982A Division JPS596171A (en) | 1982-07-05 | 1982-07-05 | Controller for rear-wheel steering mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS63121571A true JPS63121571A (en) | 1988-05-25 |
| JPS646068B2 JPS646068B2 (en) | 1989-02-01 |
Family
ID=17252914
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP25354987A Granted JPS63121571A (en) | 1987-10-09 | 1987-10-09 | Four-wheel steering vehicle |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS63121571A (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3487980B2 (en) * | 1995-08-28 | 2004-01-19 | 本田技研工業株式会社 | Control method of front and rear wheel steering vehicle |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5760974A (en) * | 1980-09-02 | 1982-04-13 | Honda Motor Co Ltd | Vehicle steering system |
-
1987
- 1987-10-09 JP JP25354987A patent/JPS63121571A/en active Granted
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5760974A (en) * | 1980-09-02 | 1982-04-13 | Honda Motor Co Ltd | Vehicle steering system |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS646068B2 (en) | 1989-02-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US4934474A (en) | Fail-safe steering angle control system for four-wheel steerable vehicle | |
| US5627754A (en) | Method for controlling a front and rear wheel steering vehicle | |
| US5615117A (en) | Method for controlling a front and rear wheel steering system | |
| JP4337993B2 (en) | Control method and control mechanism of vehicle steering system | |
| US20050165532A1 (en) | System and method for inhibiting torque steer | |
| US5184298A (en) | Rear wheel steering system for vehicle | |
| JPH02189282A (en) | Integrated control system of steering and power unit | |
| JPS596171A (en) | Controller for rear-wheel steering mechanism | |
| US4979115A (en) | Method and device for controlling rear-wheel steering of automotive vehicle | |
| US4979116A (en) | Method and device for rear wheel steering system of automotive vehicle | |
| JPS63121571A (en) | Four-wheel steering vehicle | |
| JPH0733036A (en) | Rear-wheel steering control method | |
| JPH06107197A (en) | Car steering device | |
| JP2502691B2 (en) | Actual steering angle control device for vehicle | |
| JP2851386B2 (en) | Torque distribution control device for four-wheel drive vehicle | |
| JP2871230B2 (en) | Front and rear wheel steering control device | |
| JP3071319B2 (en) | Vehicle steering system | |
| JPH0769232A (en) | Rear wheel steering device for vehicle | |
| JPH01182129A (en) | Control method for driving force distribution and rear wheel steering angle in four-wheel-drive and four-wheel steering automobile | |
| JP2605361B2 (en) | Actual steering angle control device for vehicle | |
| JP2003246275A (en) | Wheel steering unit for towing type working machine | |
| JPH04342667A (en) | Rear wheel steering device for vehicle | |
| JP2859697B2 (en) | Torque distribution control device for four-wheel drive vehicle | |
| JPH02204173A (en) | Rear wheel steering device of vehicle | |
| JP2765292B2 (en) | 4-wheel steering system |