JPH0243766U - - Google Patents
Info
- Publication number
- JPH0243766U JPH0243766U JP9723588U JP9723588U JPH0243766U JP H0243766 U JPH0243766 U JP H0243766U JP 9723588 U JP9723588 U JP 9723588U JP 9723588 U JP9723588 U JP 9723588U JP H0243766 U JPH0243766 U JP H0243766U
- Authority
- JP
- Japan
- Prior art keywords
- steering
- vehicle
- reaction force
- detection means
- value
- 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 description 13
- 238000013178 mathematical model Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 1
Landscapes
- Steering Control In Accordance With Driving Conditions (AREA)
Description
第１図は本考案の基本構成を示すブロツク図、
第２図は本考案の一実施例を示す構成図、第３図
は本実施例で使用した制御回路の構成を示すブロ
ツク図、第４図は本実施例で使用したモータ駆動
回路を示すブロツク図、第５図は本実施例におけ
る処理の概要を示したブロツク図、第６図及び第
７図はマイクロコンピユータ内で実行される処理
手順の一例を示したフローチヤートである。
３……ステアリングホイール、８……減速ギヤ
機構、９……電動機、１０……操舵トルクセンサ
、１１……車速センサ（車速検出手段）、１２…
…操舵角センサ（操舵角検出手段）、１３……前
輪車輪速センサ、１４……後輪車輪速センサ、１
５……制御装置、２０……制御回路、３０……モ
ータ駆動回路。
Figure 1 is a block diagram showing the basic configuration of the present invention.
Fig. 2 is a block diagram showing an embodiment of the present invention, Fig. 3 is a block diagram showing the structure of the control circuit used in this embodiment, and Fig. 4 is a block diagram showing the motor drive circuit used in this embodiment. 5 are block diagrams showing an overview of the processing in this embodiment, and FIGS. 6 and 7 are flowcharts showing an example of the processing procedure executed within the microcomputer. 3... Steering wheel, 8... Reduction gear mechanism, 9... Electric motor, 10... Steering torque sensor, 11... Vehicle speed sensor (vehicle speed detection means), 12...
... Steering angle sensor (steering angle detection means), 13 ... Front wheel speed sensor, 14 ... Rear wheel speed sensor, 1
5...control device, 20...control circuit, 30...motor drive circuit.
Claims (1)
記車両の操舵角を検出する操舵角検出手段と、走
行路面及び車輪間の摩擦係数を検出する摩擦係数
検出手段と、前記車速検出手段の車速検出値、前
記操舵角検出手段の操舵角検出値、前記摩擦係数
検出手段の摩擦係数検出値及び所望の運動性能を
有する車両数学モデルに基づいて操舵時に発生す
る車両の横滑り角を推定する横滑り角推定手段と
、前記車速検出値、前記摩擦係数検出値及び前記
横滑り角推定手段の横滑り角推定値に基づいて前
記車両のステアリングホイールに発生する操舵反
力の目標値を決定する操舵反力目標値決定手段と
、この操舵反力目標値決定手段で決定された操舵
反力目標値に応じた操舵反力を前記ステアリング
ホイールに発生させる操舵反力発生手段と、を備
えたことを特徴とする操舵反力制御装置。 A vehicle speed detection means for detecting the running speed of the vehicle, a steering angle detection means for detecting the steering angle of the vehicle, a friction coefficient detection means for detecting a friction coefficient between the traveling road surface and the wheels, and a vehicle speed detection means for the vehicle speed detection means. sideslip angle estimation for estimating a sideslip angle of the vehicle that occurs during steering based on a steering angle value, a steering angle detection value of the steering angle detection means, a friction coefficient detection value of the friction coefficient detection means, and a vehicle mathematical model having desired motion performance; and a steering reaction force target value determining means for determining a target value of a steering reaction force generated at the steering wheel of the vehicle based on the vehicle speed detection value, the friction coefficient detection value, and the side slip angle estimated value of the sideslip angle estimation means. and a steering reaction force generating means for generating a steering reaction force on the steering wheel according to the steering reaction force target value determined by the steering reaction force target value determining means. Force control device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP9723588U JPH0243766U (en) | 1988-07-22 | 1988-07-22 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP9723588U JPH0243766U (en) | 1988-07-22 | 1988-07-22 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0243766U true JPH0243766U (en) | 1990-03-26 |
Family
ID=31322525
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP9723588U Pending JPH0243766U (en) | 1988-07-22 | 1988-07-22 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0243766U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007326560A (en) * | 2006-04-28 | 2007-12-20 | Zf Lenksysteme Gmbh | Steering control method |
-
1988
- 1988-07-22 JP JP9723588U patent/JPH0243766U/ja active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007326560A (en) * | 2006-04-28 | 2007-12-20 | Zf Lenksysteme Gmbh | Steering control method |
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