PROBLEM TO BE SOLVED: To provide a technology of capable of stopping without deviating from a traffic lane even if control of a steering system becomes impossible because a steering gear of an automatic operation vehicle naturally requires reliability design such as conversion of a control system into two systems and a technology of safe stopping, and there is assumed a case where a vehicle must be unavoidably stopped although the vehicle is attempted to be pulled over to a road shoulder for stopping or a case where a vehicle must be stopped on a cant road.SOLUTION: The steering booster hydraulic steering gear includes a hydraulic compensation function which executes meeting rudder corresponding to a balancing change between a cant lateral force which is a component of "gravity×cant complementary angle" and a turn lateral force which is a component of "curvature×square of vehicle speed" under a steering wheel free state, using a hydraulic valve having a mass part moving in reaction to the cant lateral force and the turn lateral force.SELECTED DRAWING: Figure 1
【課題】自動運転車両の操舵装置には当然、制御系の二系統化などの信頼性設計がされる。安全に停止する技術が求められる。路肩に寄せて止めようとするも、寄せる間もなく車線上で止まらざるを得ない場面、カント路上で停止せざるを得ない場面が想定される。操舵系の制御が断たれても車線からはみ出すことなく停止できる技術を実現する。【解決手段】「重力×カント余角」成分であるカント横力と、「曲率×車速の二乗」成分である旋回横力に反応して動く質量部を設けた油圧弁を用いて、ハンドルフリー状態でカント横力と旋回横力のつり合い変化に対応するあて舵をする油圧補償機能を有する操舵倍力油圧操舵装置。【選択図】図1
VEHICLE STEERING GEAR AND AUTOMATIC OPERATIONAL METHOD
車両操舵装置及び自動運転方法
2018-07-19
Patent
Electronic Resource
Japanese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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