JPS6374768A - Straight advance controller for vehicle - Google Patents
Straight advance controller for vehicleInfo
- Publication number
- JPS6374768A JPS6374768A JP21702886A JP21702886A JPS6374768A JP S6374768 A JPS6374768 A JP S6374768A JP 21702886 A JP21702886 A JP 21702886A JP 21702886 A JP21702886 A JP 21702886A JP S6374768 A JPS6374768 A JP S6374768A
- Authority
- JP
- Japan
- Prior art keywords
- straight
- vehicle
- control value
- traveling
- intention
- 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
- 238000001514 detection method Methods 0.000 claims abstract description 40
- 230000000694 effects Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 1
- 239000000470 constituent Substances 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000003921 oil Substances 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
Landscapes
- Steering Controls (AREA)
Abstract
Description
【発明の詳細な説明】
（産業上の利用分野）
この発明は、車両の直進走行を維持する車両の直進性制
御装置に関するものである。DETAILED DESCRIPTION OF THE INVENTION (Industrial Field of Application) The present invention relates to a straightness control device for a vehicle that maintains the straightness of the vehicle.
（従来の技術及びその問題点）
車両旋回走行時の車体姿勢を制御する装置としては、例
えば特開昭５９−９２２６０号公報に開示されるものが
ある。これは、車両の４輪を操舵させる装置に係り、車
両旋回時に前輪操舵力が例えば増大すると、これに応じ
て後輪も強力に操舵させ、また、車速等の走行条件に応
じて前後輪の操舵角比を変更させ、これによって車両旋
回時の操舵の安定性を向上させるものでおる。(Prior Art and its Problems) An example of a device for controlling the posture of a vehicle during turning is disclosed in Japanese Patent Application Laid-Open No. 59-92260. This is a device that steers the four wheels of a vehicle. For example, when the front wheel steering force increases when the vehicle turns, the rear wheels are also strongly steered in response, and the front and rear wheels are also steered depending on driving conditions such as vehicle speed. This changes the steering angle ratio, thereby improving steering stability when the vehicle turns.
しかしながら、このような従来の車両の４輪操舵装置に
あっては、操向車輪である前輪の運転者の意思に基づく
操舵に応じて、後輪をも操舵させ、操舵安定性を高める
ものであり、運転者の意思に反した旋回運動を抑制する
といった機能は備えておらず、例えばいわゆる手放し運
転による車両片流れを修正する機能はない。However, in such conventional four-wheel steering systems for vehicles, the rear wheels are also steered in response to the driver's intention to steer the front wheels, which are the steering wheels, to improve steering stability. However, it does not have a function to suppress turning movements that go against the driver's will, and for example, it does not have a function to correct unilateral drift of the vehicle due to so-called hands-off driving.
また広義での車体姿勢の制御装置としては、特開昭５９
−１０００６４号公報に開示されるものもある。これは
、減衰力又ははね定数が可変なサスペンション装置と、
ステアリング特性が可変なステアリング装置とを備えさ
せ、両装置の特性を制御することによって、操舵安定性
を高めるもので、同様に運転者の意思に反した旋回運動
を抑制する機能は有しない。In addition, as a control device for vehicle body posture in a broad sense, Japanese Patent Publication No. 59
There is also one disclosed in Japanese Patent No. -100064. This is a suspension device with variable damping force or spring constant,
The vehicle is equipped with a steering device with variable steering characteristics and controls the characteristics of both devices to improve steering stability, and similarly does not have the function of suppressing turning movement against the driver's will.
（問題点を解決するための手段及び作用）この発明は、
このような従来の問題点に鑑みてなされたもので、その
構成は、車両が非直進走行状態にあることを検出する非
直進性検出手段と、運転者による直進走行の意思を確認
する直進意思検出手段と、非直進性検出手段及び直進意
思検出手段による検出信号が共にあった際、非直進性検
出手段の検出信号に応じた制御値を出力する制御値設定
手段と、該制御値によって車体姿勢を直進側に立直すか
じ塩９手段とを備える車両の直進性制御装置である。(Means and effects for solving the problem) This invention has the following features:
This was developed in view of these conventional problems, and consists of a non-straightness detection means for detecting that the vehicle is in a non-straight travel state, and a straight-ahead intention detection means for confirming the driver's intention to travel straight. a detection means, a control value setting means for outputting a control value according to the detection signal of the non-straightness detection means when both the detection signals from the non-straightness detection means and the straightness intention detection means are detected; This is a straightness control device for a vehicle, comprising a steering wheel 9 means for correcting the attitude to the straight side.
しかして、非直進性検出手段によって、車両が非直進走
行状態つまり車両片流れ状態にあることが検出されて検
出信号が発生し、かつ直進意思検出手段によって、直進
走行を望む運転者の意思が確認されて検出信号が発生す
ると、制御値設定手段によって、非直進性検出手段の検
出信号に応じた制御値が出力され、この制御値によって
かじ取シ手段が作動し、車体姿勢が直進側に立直される
。Then, the non-straight running state detecting means detects that the vehicle is in a non-straight running state, that is, the vehicle is in one-sided drift state, and a detection signal is generated, and the straight-going intention detecting means confirms the driver's intention to drive straight. When a detection signal is generated, the control value setting means outputs a control value corresponding to the detection signal of the non-straightness detection means, and this control value operates the steering means to straighten the vehicle to the straight-ahead direction. be done.
その結果、車両の直進走行が維持され、例えば運転未熟
、或は手放し運転によって、車両片流れを生じた場合の
直進走行への修正が自動的になされる。As a result, the vehicle is maintained in a straight line, and when the vehicle drifts to one side due to, for example, inexperienced driving or unresponsive driving, the vehicle is automatically corrected to go straight.
（実施例）
以下、この発明の実施例について図面を参照して説明す
る。(Example) Hereinafter, an example of the present invention will be described with reference to the drawings.
第１〜３図はこの発明の１実施例を示す。第１図はこの
発明のブロック図を示すもので、車両には、非直進走行
状態にあることを検出する非直進性検出手段１と、運転
者による直進走行の意思を確認する直進意思検出手段２
とが備えられる。1-3 show one embodiment of the invention. FIG. 1 shows a block diagram of the present invention, in which the vehicle includes a non-straight running state detection means 1 for detecting that the vehicle is in a non-straight running state, and a straight running intention detection means for confirming the driver's intention to drive straight. 2
and will be provided.
非直進性検出手段１は、第２図に示す実施例においては
、ステアリングホイール３０回転角等を測定する操舵角
センサー４によって構成され、車両が直進走行状態にな
い際、つｔｂ片流れの蛇行を始めた際、この操舵角セン
サー４から電気的な検出信号１１が発生する。この検出
信号ｌ工は、ステアリングホイール３の回転方向、回転
角度及び角速度に応じて得られるものとする。この他、
非直進性検出手段１としては、車両の横向き加速度、ヨ
ーレイト等を測定するものを用いることができる。In the embodiment shown in FIG. 2, the non-straightness detection means 1 includes a steering angle sensor 4 that measures the rotation angle of the steering wheel 30, etc., and detects one-sided meandering when the vehicle is not running straight. When starting, this steering angle sensor 4 generates an electrical detection signal 11. This detection signal I is assumed to be obtained according to the rotation direction, rotation angle, and angular velocity of the steering wheel 3. In addition,
As the non-straightness detection means 1, one that measures the lateral acceleration, yaw rate, etc. of the vehicle can be used.
直進意思検出手段２は、例えば方向指示器５によって構
成される。すなわち、方向指示器５によって右又は左方
向への進路変更表示がなされ、電気的な検出信号！、が
発生し、かつ操舵角センサー４による検出信号１０がこ
れとは逆に左又は右方向への蛇行を表示している場合、
運転者の直進走行の意思が推定される。この他、直進意
思検出手段２としては、専用のスイッチが考えられる。The straight-ahead intention detecting means 2 is constituted by, for example, a direction indicator 5. That is, the direction indicator 5 indicates a course change to the right or left, and an electrical detection signal is sent! occurs, and the detection signal 10 from the steering angle sensor 4 indicates meandering to the left or right, contrary to this,
The driver's intention to drive straight is estimated. In addition, a dedicated switch may be used as the straight-ahead intention detecting means 2.
運転者によってこのスイッチがＯＮ作動され、同様の検
出信号１２が発生することにより、運転者の直進走行の
意思が確認される。When this switch is turned on by the driver and a similar detection signal 12 is generated, the driver's intention to drive straight is confirmed.
そして、非直進性検出手段１及び直進意思検出手段２に
よる雨検出信号１． 、 ｌ、が共にめった際、後記す
る制御値ｍに応じて車体姿勢を直進走行側に立直すかじ
塩９手段６を設ける。このかじ取シ手段６は、第２図に
示す実施例においては、後輪８ａ 、８ｂの制動力を個
別に制御する制動力制御袋［９として構成される。すな
わち、後輪８＆。Then, a rain detection signal 1. is generated by the non-straight running tendency detection means 1 and the straight running intention detection means 2. , l, are both encountered, a steering wheel 9 means 6 is provided to right the vehicle body attitude to the straight traveling side in accordance with a control value m to be described later. In the embodiment shown in FIG. 2, this steering means 6 is configured as a braking force control bag [9] that individually controls the braking force of the rear wheels 8a and 8b. That is, rear wheels 8&.
８ｂには、ディスクブレーキ又はドラムブレーキよりな
るブレーキ装置１０ｍ、１０ｂがそれぞれ設けられ、圧
力源１１からの圧油が電磁弁１２．１３を介して一方の
ブレーキ装置１０ｍ又は１０ｂに供給され、所定の制動
力を生ずる。8b is provided with brake devices 10m and 10b each consisting of a disc brake or a drum brake, and pressure oil from a pressure source 11 is supplied to one of the brake devices 10m or 10b via a solenoid valve 12. Generates braking force.
電磁弁１２．１３は、マイクロコンピュータ１４が構成
する制御値設定手段７によって制御される。The solenoid valves 12 and 13 are controlled by a control value setting means 7 constituted by a microcomputer 14.
制御値設定手段７は、非直進性検出手段ｌの検出信号１
１に応じた制御値ｍを出力する。この制御値ｍが電磁弁
１２，１３のソノノイドに供給され、電磁弁１２にｄ位
置を採らせた状態において電磁弁１３にａ位置を所定時
間採らせることにより、左後輪８ｂのブレーキ装置ＬＯ
ｂが増圧され、次いでＣ位置を所定時間採らせることに
よシブレーキ装置１０ｂが保圧され、その間、制動力が
生じて車体に回頭モーメントが発生する。その結果、車
体は左方向に操舵され、右方向に蛇行していた車体姿勢
を直進側に立直すことができる。その後、電磁弁１２Ｋ
ａ位置を採らせ、作動油をリザーバ１５にドレーンさせ
てブレーキ装置ｔｏｂを減圧させ、直進走行を持続嘔せ
る。車体に右方向の操舵を与える場合には、電磁弁１３
にｂ位置を採らせばよい。また、この実施例のように一
方の後輪８ａ又は８ｂに制動力を発生させる構造によれ
ば、車庫入れの際等に回転半径を小さくさせる応用作用
が得られ、運転性能を高めることができる。The control value setting means 7 receives the detection signal 1 of the non-straightness detection means 1.
A control value m corresponding to 1 is output. This control value m is supplied to the solenoid of the solenoid valves 12 and 13, and by making the solenoid valve 13 take the a position for a predetermined time while the solenoid valve 12 takes the d position, the brake system LO of the left rear wheel 8b is
B is increased in pressure, and then the brake system 10b is kept under pressure by holding the C position for a predetermined period of time, during which time a braking force is generated and a turning moment is generated in the vehicle body. As a result, the vehicle body is steered to the left, and the vehicle body posture, which had meandered toward the right, can be restored to the straight-ahead direction. After that, solenoid valve 12K
The vehicle takes position a, drains the hydraulic oil into the reservoir 15, depressurizes the brake system tob, and continues to drive straight ahead. When steering the vehicle to the right, the solenoid valve 13
All you have to do is have it take position b. Further, according to the structure in which braking force is generated on one of the rear wheels 8a or 8b as in this embodiment, an applied effect can be obtained to reduce the turning radius when parking the car in a garage, etc., and driving performance can be improved. .
なお、圧力源１１は、エンジン１６の負圧にて駆動され
、或はパワーステアリングポンプが兼用嘔れる。また、
ブレーキ装ｆｉｌ １０ ｍ 、 １０ ｂは、車両の
常用ブレーキ又はパーキングブレーキを利用することも
できる。更には、前輪８ｃ、８ｄに制動力を発生させて
同様の作用を得ることができることは勿論である。Note that the pressure source 11 is driven by the negative pressure of the engine 16, or can also be used as a power steering pump. Also,
The brake equipment fil 10 m, 10 b can also utilize the service brake or parking brake of the vehicle. Furthermore, it goes without saying that the same effect can be obtained by generating braking force on the front wheels 8c and 8d.
また、かじ取シ手段６としては、制動力制御装置９の他
に、ステアリングホイール３を直接に転舵させるものと
して構成することができる。In addition to the braking force control device 9, the steering means 6 may be configured to directly steer the steering wheel 3.
第３図にはコンピュータ１４の７０−チャートを示す。FIG. 3 shows a 70-chart of the computer 14.
先ず、操舵角センサー４によってステアリングホイール
３０回転方向、回転角及び角速度を検出する■。そして
、車両片流れ状態を生じている場合には、制御値ｍを演
算するΦ）。方向指示器５によって、車両の片流れ状態
が運転者の意思によるものか否かを判断しＯ１意思によ
る場合はそのまま終シ、意思によらない場合は制御値ｍ
を出力し０、前述の制御が行なわれる。このような一連
の動作は、所定周期毎に起動されるものである。First, the steering angle sensor 4 detects the rotation direction, rotation angle, and angular velocity of the steering wheel 30. If the vehicle is drifting in one direction, the control value m is calculated (Φ). It is determined by the direction indicator 5 whether or not the one-sided drifting state of the vehicle is caused by the driver's intention, and if it is the driver's intention, the process ends as is, and if it is not the driver's intention, the control value m
is output and the above-mentioned control is performed. Such a series of operations is activated at predetermined intervals.
な２、この発明に係る車両の直進性制御装置は、あくま
でも補助的な車両姿勢の制御手段であり、かじ取シ手段
６の作動に優先して、ステアリングホイール３によるか
じ取りがなされ得ることは、車両の安全性確保の上から
勿論である。2. The vehicle straightness control device according to the present invention is only an auxiliary vehicle attitude control means, and the steering wheel 3 can be used to steer the vehicle in priority to the operation of the steering means 6. Of course, this is necessary to ensure the safety of the vehicle.
ところで、車速を測定する車速センサーを別途に設け、
車速に応じた補正値によって制御値ｍに補正を与え、か
じ取り手段６の動作速度に変更を加えることによシ、急
激な操舵を防止して操縦安定性を向上させることができ
る。By the way, a separate vehicle speed sensor is installed to measure vehicle speed.
By correcting the control value m using a correction value according to the vehicle speed and changing the operating speed of the steering means 6, sudden steering can be prevented and steering stability can be improved.
（発明の効果）
以上の説明によって理解ちれるように、この発明によれ
ば、車両の直進走行性が自動的に得られ、走行安定性が
向上する。(Effects of the Invention) As can be understood from the above explanation, according to the present invention, straight-line running performance of the vehicle is automatically obtained, and running stability is improved.
第１図はこの発明に係るブロック図、第２図はこの発明
の１実施例に係る構成要素の配置図、第３図は同じくフ
ローチャートである。
１：非直進性検出手段、２：直進意思検出手段、３ニス
テアリングホイール、４：操舵角センサー、５：方向指
示器、６：かじ取り手段、７：制御値設定手段、８ａ、
８ｂ：後輪、８ｃ、８ｄ：前輪、９：制動力制御装置。
代理人弁理士 前 １）利 之（ほか１名）第１図
第２図FIG. 1 is a block diagram according to the present invention, FIG. 2 is a layout diagram of constituent elements according to an embodiment of the present invention, and FIG. 3 is a flowchart. DESCRIPTION OF SYMBOLS 1: Non-straight running detection means, 2: Straight running intention detection means, 3 Steering wheel, 4: Steering angle sensor, 5: Direction indicator, 6: Steering means, 7: Control value setting means, 8a,
8b: Rear wheel, 8c, 8d: Front wheel, 9: Braking force control device. Representative Patent Attorney 1) Toshiyuki (and 1 other person) Figure 1 Figure 2
Claims (1)
性検出手段と、運転者による直進走行の意思を確認する
直進意思検出手段と、非直進性検出手段及び直進意思検
出手段による検出信号が共にあつた際、非直進性検出手
段の検出信号に応じた制御値を出力する制御値設定手段
と、該制御値によつて車体姿勢を直進側に立直すかじ取
り手段とを備えることを特徴とする車両の直進性制御装
置。1. A non-straight-travel behavior detection means for detecting that the vehicle is in a non-straight travel state, a straight-travel intention detection means for confirming the driver's intention to travel straight, and a detection signal by the non-straight-travel behavior detection means and the straight-travel intention detection means is characterized by comprising: a control value setting means for outputting a control value according to the detection signal of the non-straightness detection means when both of them occur, and a steering means for correcting the vehicle body attitude to the straight-ahead direction based on the control value. Straightness control device for vehicles with
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP21702886A JPS6374768A (en) | 1986-09-17 | 1986-09-17 | Straight advance controller for vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP21702886A JPS6374768A (en) | 1986-09-17 | 1986-09-17 | Straight advance controller for vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS6374768A true JPS6374768A (en) | 1988-04-05 |
Family
ID=16697703
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP21702886A Pending JPS6374768A (en) | 1986-09-17 | 1986-09-17 | Straight advance controller for vehicle |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6374768A (en) |
-
1986
- 1986-09-17 JP JP21702886A patent/JPS6374768A/en active Pending
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