To provide a four-wheel steering vehicle that enables even a novice driver to easily exit a narrow parking space.SOLUTION: A four-wheel steering vehicle including a front wheel that can be steered by a handle and a rear wheel that can be steered by an actuator, comprises: a steering angle detection sensor that is able to detect a steering angle of a front wheel; a distance measurement sensor that is able to measure a distance from the vehicle to an obstacle; a reference trajectory calculation unit that is able to sequentially calculate a reference trajectory to be traveled by the vehicle including steering of the front wheel and the rear wheel when the vehicle exits a parking space on the basis of the distance from the vehicle to the obstacle, measured by the distance measurement sensor; a rear wheel steering angle calculation unit that is able to sequentially calculate a steering angle for the rear wheel on the basis of the reference trajectory calculated by the reference trajectory calculating unit and the steering angle of the front wheel detected by the steering angle detection sensor; and a rear wheel control unit that simultaneously controls the actuator such that the steering angle of the rear wheel becomes equal to the steering angle of the rear wheel calculated by the rear wheel steering angle calculation unit.SELECTED DRAWING: Figure 2

    【課題】運転に不慣れなドライバであっても狭い駐車場から容易に出場できる四輪操舵車両を提供する。【解決手段】四輪操舵車両は、ハンドルによって操舵可能な前輪と、アクチュエータによって操舵可能な後輪と、を備える四輪操舵車両であって、前輪の操舵角を検出可能な操舵角検出センサと、車両から障害物までの距離を計測可能な距離計測センサと、距離計測センサにおいて計測された車両から障害物までの距離に基づいて車両の出庫の際に車両が前輪及び後輪の操舵を含めて走行すべき基準軌道を逐次算定可能な基準軌道演算部と、基準軌道演算部において算定された基準軌道と操舵角検出センサにおいて検出された前輪の操舵角とに基づいて後輪の操舵角を逐次算定可能な後輪操舵角演算部と、後輪の操舵角が後輪操舵角演算部で算定された後輪の操舵角となるように逐次アクチュエータを制御する後輪制御部と、を備える。【選択図】 図2


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    Titel :

    FOUR-WHEEL STEERING VEHICLE


    Weitere Titelangaben:

    四輪操舵車両


    Beteiligte:
    TOTSUKA YUJI (Autor:in)

    Erscheinungsdatum :

    2019-05-16


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Japanisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR



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