JP2597544B2 - Rear wheel steering angle control method - Google Patents
Rear wheel steering angle control methodInfo
- Publication number
- JP2597544B2 JP2597544B2 JP61000789A JP78986A JP2597544B2 JP 2597544 B2 JP2597544 B2 JP 2597544B2 JP 61000789 A JP61000789 A JP 61000789A JP 78986 A JP78986 A JP 78986A JP 2597544 B2 JP2597544 B2 JP 2597544B2
- Authority
- JP
- Japan
- Prior art keywords
- vehicle speed
- steering angle
- rear wheel
- vehicle
- 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.)
- Expired - Lifetime
Links
- 238000000034 method Methods 0.000 title claims description 10
- 239000003921 oil Substances 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000000087 stabilizing effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 239000010720 hydraulic oil Substances 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
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)
Description
【発明の詳細な説明】 （産業上の利用分野） 本発明は、前輪の操舵に応じて車速に関連して後輪を
操舵する車両の後輪舵角制御方法に関するものである。Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for controlling a rear wheel steering angle of a vehicle that steers rear wheels in relation to vehicle speed in accordance with steering of front wheels.
（従来の技術） 従来の後輪舵角制御方法としては、例えば特開昭57−
11173号公報に開示されたものがある。すなわちこの制
御方法は、車両の横すべり角を小さくするために、後輪
の舵角制御を行って操縦性能を向上させるものであり、
第３図に示すように、所定の車速（約30km/h）以上では
後輪を前輪と同相に操舵するが、所定の車速以下の低速
においては、後輪を前輪と逆相に操舵するものである。
そしてこの低速時における前輪の操舵角に対する後輪の
転舵角の比は、車速ゼロ付近で最も大きくなるから、低
速時においては所謂小まわり性能が向上するものであ
る。(Conventional technology) As a conventional rear wheel steering angle control method, for example,
There is one disclosed in Japanese Patent No. 11173. That is, this control method is to improve the steering performance by performing steering angle control of the rear wheels in order to reduce the side slip angle of the vehicle.
As shown in FIG. 3, the rear wheels are steered in the same phase as the front wheels at a predetermined vehicle speed (about 30 km / h) or more, but the rear wheels are steered in the opposite phase to the front wheels at a low speed less than the predetermined vehicle speed. It is.
Then, the ratio of the steering angle of the rear wheels to the steering angle of the front wheels at the low speed becomes the largest near zero vehicle speed, so that the so-called small turning performance is improved at the low speed.
（発明が解決しようとする問題点） しかしながら、上述した従来の後輪操舵制御方法は、
前輪舵角センサと車速センサにより得られた信号を基に
して、車両前進時の操縦性能を向上させるために制御回
路により後輪制御舵角を演算し、これにより後輪を操舵
するものであるから、車両後退時には後輪の舵角制御が
できない。したがって後退時には車両の回転半径が小さ
くならないために、例えば、車庫入れ時に、前後輪を逆
相に操舵して狭い車庫に前進で車を入れた後、後退で車
を車庫から出そうとしても、後退時には後輪が逆相に操
舵されないため、小まわり性能が低下し車庫から車を出
しにくくなるというような問題点があった。(Problems to be Solved by the Invention) However, the above-described conventional rear wheel steering control method,
Based on the signals obtained by the front wheel steering angle sensor and the vehicle speed sensor, a control circuit calculates a rear wheel control steering angle by a control circuit in order to improve steering performance when the vehicle is moving forward, thereby steering the rear wheels. Therefore, the steering angle of the rear wheels cannot be controlled when the vehicle moves backward. Therefore, in order to prevent the turning radius of the vehicle from becoming small when reversing, for example, when entering the garage, after steering the front and rear wheels in opposite phases and entering the narrow garage forward, and then trying to get the vehicle out of the garage by reversing, When the vehicle reverses, the rear wheels are not steered in the opposite phase, so that there is a problem that the small turning performance is reduced and it is difficult to get the vehicle out of the garage.
また、仮に、後退時に前進時と同様の舵角制御比で後
輪を操舵するようにした場合は、後退時において特に速
度を上げた場合における後輪の舵角変化が大きいため、
車両がふらつき易く走行が不安定になるという問題点が
あった。Further, if the rear wheels are steered at the same steering angle control ratio as that at the time of reversing when the vehicle retreats, the change in the steering angle of the rear wheels at the time of retreating, particularly when the speed is increased, is large.
There has been a problem that the vehicle tends to wobble and running becomes unstable.
（問題点を解決するための手段） 上述の問題点を解決するため本発明においては、前輪
に対する後輪の舵角比が車速に応じて予め設定された特
性となるよう後輪舵角を制御するに当たり、前記舵角を
前進時には所定の車速以下で後輪を前輪と逆相に操舵す
ると共に所定の車速以上では後輪を前輪と同相に操舵
し、後退時には所定の車速以上で後輪を前輪と逆相に操
舵すると共に所定の車速以上では後輪を操舵しないよう
にする。(Means for Solving the Problems) In order to solve the above problems, in the present invention, the rear wheel steering angle is controlled such that the steering angle ratio of the rear wheels to the front wheels has a characteristic set in advance according to the vehicle speed. In doing so, when the steering angle is advanced, the rear wheel is steered in the opposite phase to the front wheel at a predetermined vehicle speed or less while the rear wheel is steered in the same phase as the front wheel at a predetermined vehicle speed or more, and the rear wheel is steered at a predetermined vehicle speed or more at the time of retreat. Steering is performed in the opposite phase to that of the front wheels, and the rear wheels are not steered at a predetermined vehicle speed or higher.
（作 用） 上述のように本発明においては、車両の後退時におい
ても、所定の車速以下では後輪を前輪と逆相に操舵する
ようにしたから、後退時においても車両の回転半径を小
さくすることができる。(Operation) As described above, in the present invention, even when the vehicle is moving backward, the rear wheels are steered in the opposite phase to the front wheels at a predetermined vehicle speed or less. can do.
また、後退時における所定の車速以上では後輪を操舵
しないようにしたから、後退時において車速を上げても
後輪の舵角が大きく変化しないため、車両のふらつきを
防止して走行を安定させることができる。In addition, since the rear wheels are not steered at a predetermined vehicle speed or more when the vehicle is reversing, the steering angle of the rear wheels does not change significantly even when the vehicle speed is increased during the retreat, thereby preventing the vehicle from wobbling and stabilizing traveling. be able to.
したがって本発明によれば、前進時には低車速から高
車速にわたって車両の横すべり角を小さくできると共
に、後退時には低車速時の小回り性を確保して車両の操
縦性能を向上させることができる。Therefore, according to the present invention, the side slip angle of the vehicle can be reduced from a low vehicle speed to a high vehicle speed when the vehicle is moving forward, and the small turning performance at the low vehicle speed can be secured when the vehicle is moving backward, thereby improving the steering performance of the vehicle.
（実施例） 以下、第１図および第２図について本発明の実施例を
説明する。Embodiment An embodiment of the present invention will be described below with reference to FIGS. 1 and 2.
第１図は本発明の後輪舵角制御方法を実施する装置の
一例を示す略線図である。図中１はエンジンで、このエ
ンジン１によりベルトプーリ伝動装置２を介して駆動さ
れるオイルポンプ３によりリザーバタンク４内のオイル
をアンローディングバルブ５を経てサーボ弁６に送り、
このサーボ弁６により後輪操舵用油圧アクチュエータ７
の左または右側油室に油を送入するよう構成されてい
る。８はアキュムレータ、９は作動油供給ライン、10は
リザーバタンク４への戻りラインを示す。11は電子制御
回路で、この制御回路11はトランスミッション12に装着
された車速センサ13とステアリングホイール14のステア
リングコラム15に取り付けられた前輪操舵角検出器16か
ら信号を入力し、その制御回路11の出力をサーボアンプ
17に電気的に接続してサーボ弁６を電気的に駆動するよ
うに接続されている。18は後輪の舵角を検知する変位検
知機構で、その後輪舵角信号をサーボアンプ17にフィー
ドバックするよう電気的に接続されている。19および20
は前輪タイヤ、21,22は後輪タイヤ、23,24は前後輪のス
テアリングリンケージを示す。すなわち本実施例の装置
は、車速を車速センサ13により検出し、前輪19,20の操
舵角を前輪操舵角検出器16により検出し、検出した電気
信号を電子制御回路11にそれぞれ入力し、この電子制御
回路11からの出力をサーボアンプ17に入力し、サーボア
ンプ17の出力によってサーボ弁６を制御することによ
り、油圧アクチュエータ７を介して後輪21,22の舵角を
制御すると共に、この後輪21,22の舵角を変位検知機構1
8により検出して、その検出値を電気信号としてサーボ
アンプ17にフィードバックさせることにより制御を確実
にするものである。FIG. 1 is a schematic diagram showing an example of an apparatus for implementing the rear wheel steering angle control method of the present invention. In FIG. 1, reference numeral 1 denotes an engine. The oil in a reservoir tank 4 is sent to a servo valve 6 through an unloading valve 5 by an oil pump 3 driven by the engine 1 via a belt pulley transmission 2.
The servo valve 6 controls the rear wheel steering hydraulic actuator 7.
Is configured to feed oil to the left or right oil chambers. 8 denotes an accumulator, 9 denotes a hydraulic oil supply line, and 10 denotes a return line to the reservoir tank 4. Reference numeral 11 denotes an electronic control circuit.The control circuit 11 receives signals from a vehicle speed sensor 13 mounted on a transmission 12 and a front wheel steering angle detector 16 mounted on a steering column 15 of a steering wheel 14. Output servo amplifier
It is electrically connected to 17 so as to electrically drive the servo valve 6. Reference numeral 18 denotes a displacement detection mechanism that detects the steering angle of the rear wheel, and is electrically connected so that a rear wheel steering angle signal is fed back to the servo amplifier 17. 19 and 20
Denotes front wheel tires, 21 and 22 denote rear wheel tires, and 23 and 24 denote front and rear wheel steering linkages. That is, the device of the present embodiment detects the vehicle speed by the vehicle speed sensor 13, detects the steering angles of the front wheels 19, 20 by the front wheel steering angle detector 16, and inputs the detected electric signals to the electronic control circuit 11, respectively. The output from the electronic control circuit 11 is input to the servo amplifier 17, and the servo valve 6 is controlled by the output of the servo amplifier 17 to control the steering angles of the rear wheels 21 and 22 via the hydraulic actuator 7. Displacement detection mechanism 1 for steering angle of rear wheels 21 and 22
The control is ensured by detecting the detected value by 8 and feeding back the detected value to the servo amplifier 17 as an electric signal.
第２図は本発明方法の実施例を示すもので、横座標に
車速Ｖ（km/h）をとり、縦座標に前後輪の舵角比ｋをと
った特性図である。FIG. 2 shows an embodiment of the method of the present invention, in which the abscissa indicates the vehicle speed V (km / h) and the ordinate indicates the steering angle ratio k between the front and rear wheels.
この実施例は、車両の前進時における所定の車速V0以
上では、車速と前輪舵角に応じて後輪を前輪と同相に操
舵し、所定の車速V0以下では、車速と前輪舵角に応じて
後輪を前輪と逆相に操舵し、また車両の後退時において
は、後退車速の絶対値を検出することによって、車速Ｖ
が０から−V0の範囲では、後輪を前輪と逆相に操舵する
ものであり、−V0以上の車速では後輪を操舵しない。This embodiment is in a predetermined vehicle speed greater than or equal to V 0 at the time of forward movement of the vehicle, steering the rear wheels to the front wheels and the phase in accordance with the vehicle speed and front wheel steering angle, the predetermined vehicle speed V 0 below, the vehicle speed and front wheel steering angle Accordingly, the rear wheels are steered in the opposite phase to the front wheels, and when the vehicle is moving backward, the vehicle speed V is detected by detecting the absolute value of the reverse vehicle speed.
There in the range from 0 to -V 0, is intended to steer the rear wheels to the front wheels in the opposite phase, not steering the rear wheels in -V 0 or more of the vehicle speed.
なお、この場合、後輪を前輪と逆相に操舵する車速領
域の幅は、前進時と後退時とで同一である必要はない。
例えば、後退時に後輪を前輪と逆相に操舵する車速領域
の幅が前進時の車速領域に比べて低車速側になるよう設
定すれば、後退時に車両のヨーレイトゲインが大きくな
り過ぎて車両が不安定になることを防止できる。In this case, the width of the vehicle speed region in which the rear wheels are steered in a phase opposite to that of the front wheels does not need to be the same at the time of forward movement and the time of reverse movement.
For example, if the width of the vehicle speed region in which the rear wheels are steered in the opposite phase to the front wheels when reversing is set to be lower than the vehicle speed region when moving forward, the yaw rate gain of the vehicle will be too large when reversing and the vehicle Instability can be prevented.
なお、この場合、車速センサ13により車速を検出する
方法として、一定走行距離に対応して車両の駆動系から
発生するパルス信号の一定時間当りのパルス数をカウン
トするようにすれば、車速の絶対値を計測するのに都合
がよい。In this case, as a method of detecting the vehicle speed by the vehicle speed sensor 13, if the number of pulses per predetermined time of the pulse signal generated from the drive system of the vehicle corresponding to a certain traveling distance is counted, the absolute value of the vehicle speed is obtained. It is convenient to measure the value.
（発明の効果） 以上説明してきたように、本発明によれば、車速に応
じて決まる前後輪の舵角比を、前進時のみならず後退時
にも所定の車速以下で前後輪が逆相に操舵されるように
したため、後退時においても小まわり性能が確保されて
操縦性能が向上する。(Effects of the Invention) As described above, according to the present invention, the steering angle ratio of the front and rear wheels, which is determined according to the vehicle speed, is reversed not only at the time of forward movement but also at the time of backward movement at a predetermined vehicle speed or less. Since the steering is performed, the small turning performance is secured even when the vehicle retreats, and the steering performance is improved.
また、後退時における所定の車速以上では後輪を操舵
しないようにしたから、後退時において車速を上げても
後輪の舵角が大きく変化しないため、車両のふらつきを
防止して走行を安定させることができる上に、アクチュ
エータの不要な動作をなくすことにより、アクチュエー
タの耐久性を向上させると共に、燃費もその分軽減する
ことができる。In addition, since the rear wheels are not steered at a predetermined vehicle speed or more when the vehicle is reversing, the steering angle of the rear wheels does not change significantly even when the vehicle speed is increased during the retreat, thereby preventing the vehicle from wobbling and stabilizing traveling. In addition, by eliminating unnecessary operation of the actuator, the durability of the actuator can be improved, and fuel consumption can be reduced correspondingly.
上述のように本発明によれば、前進時には低車速から
高車速にわたって車両の横すべり角を小さくできると共
に、後退時には低車速時の小回り性を確保して車両の操
縦性能を向上させることができるという効果が得られ
る。As described above, according to the present invention, it is possible to reduce the sideslip angle of the vehicle from low vehicle speed to high vehicle speed when moving forward, and to improve the steering performance of the vehicle by ensuring small turning at low vehicle speed when moving backward. The effect is obtained.
第１図は本発明の後輪舵角制御方法を実施する装置の一
例を示す略線図、 第２図は本発明の実施例を示す特性図、 第３図は従来装置の特性図である。 １……エンジン、３……オイルポンプ ６……サーボ弁、７……油圧アクチュエータ 11……電子制御回路、13……車速センサ 14……ステアリングホイール、16……前輪操舵角検出器 17……サーボアンプ、18……変位検知機構 19,20……前輪、21,22……後輪FIG. 1 is a schematic diagram showing an example of a device for implementing the rear wheel steering angle control method of the present invention, FIG. 2 is a characteristic diagram showing an embodiment of the present invention, and FIG. 3 is a characteristic diagram of a conventional device. . 1 ... Engine 3 ... Oil pump 6 ... Servo valve 7 ... Hydraulic actuator 11 ... Electronic control circuit 13 ... Vehicle speed sensor 14 ... Steering wheel 16 ... Front wheel steering angle detector 17 ... Servo amplifier, 18 Displacement detection mechanism 19, 20 Front wheel, 21, 22 Rear wheel
Claims (1)
予め設定された特性となるよう後輪舵角を制御するに当
たり、前記舵角を前進時には所定の車速以下で後輪を前
輪と逆相に操舵すると共に所定の車速以上では後輪を前
輪と同相に操舵し、後退時には所定の車速以下で後輪を
前輪と逆相に操舵すると共に所定の車速以上では後輪を
操舵しないようにしたことを特徴とする後輪舵角制御方
法。When controlling the rear wheel steering angle so that the ratio of the steering angle of the rear wheel to the front wheel has a predetermined characteristic according to the vehicle speed, when the steering angle is advanced, the rear wheel is driven at a predetermined vehicle speed or less and the front wheel is adjusted. When the vehicle speed is higher than a predetermined vehicle speed, the rear wheel is steered in the same phase as the front wheel, and when the vehicle is reversing, the rear wheel is steered in the opposite phase to the front wheel at a predetermined vehicle speed or less, and the rear wheel is not steered at a predetermined vehicle speed or higher. A method of controlling a rear wheel steering angle, characterized in that:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP61000789A JP2597544B2 (en) | 1986-01-08 | 1986-01-08 | Rear wheel steering angle control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP61000789A JP2597544B2 (en) | 1986-01-08 | 1986-01-08 | Rear wheel steering angle control method |
Related Child Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP18331194A Division JP2515966B2 (en) | 1994-08-04 | 1994-08-04 | Rear wheel steering angle control method |
| JP6183312A Division JP2605977B2 (en) | 1994-08-04 | 1994-08-04 | Rear wheel steering angle control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS62160961A JPS62160961A (en) | 1987-07-16 |
| JP2597544B2 true JP2597544B2 (en) | 1997-04-09 |
Family
ID=11483455
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP61000789A Expired - Lifetime JP2597544B2 (en) | 1986-01-08 | 1986-01-08 | Rear wheel steering angle control method |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2597544B2 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02283572A (en) * | 1989-04-25 | 1990-11-21 | Mazda Motor Corp | Rear wheel steering gear for vehicle |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6231565A (en) * | 1985-08-02 | 1987-02-10 | Fuji Heavy Ind Ltd | Four-wheel steering device for car |
-
1986
- 1986-01-08 JP JP61000789A patent/JP2597544B2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JPS62160961A (en) | 1987-07-16 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| EXPY | Cancellation because of completion of term |