To provide a vehicle steering apparatus, restraining the adverse effect of a road surface state such as cant and reducing the estimated errors of a road surface friction coefficient in an independent steering vehicle.SOLUTION: In a vehicle steering apparatus 20, one or more lines of tires 91 to 94 among two or more pairs of left/right tires in a vehicle longitudinal direction are mounted to an independently steering vehicle 100 independently steerable by the left and right wheels. Plural steering actuators 31 to 34 drive each of tires 91 to 94 in a steering direction. A toe angle control part 25 outputs a driving signal to the actuators 31 to 34 to carry out "periodic steering" changing periodically the toe angle by the prescribed steering frequency and angle amplitude. A tire external force detection part 29 detects a tire external force (SAT) imposed to the tires 91 to 94 steered by the steering actuators 31 to 34. Besides, a road surface friction coefficient estimation part 26 carries out the frequency analysis of the tire external force and estimates the road surface friction coefficient based on the relation of the tire external force with the road surface friction coefficient.SELECTED DRAWING: Figure 1

    【課題】独立転舵車両においてカント等の路面状態の影響を抑制し、路面摩擦係数の推定誤差を低減する自動車用転舵装置を提供する。【解決手段】自動車用転舵装置20は、車両前後方向における二列以上の左右対のタイヤのうち、一列以上のタイヤ91−94が左輪と右輪とで独立して転舵可能な独立転舵車両100に搭載される。複数の転舵アクチュエータ31−34は、各タイヤ91−94を転舵方向に駆動する。トー角制御部25は、トー角を所定の転舵周波数及び角度振幅で周期的に変化させる「周期的転舵」を実行するように、転舵アクチュエータ31−34に駆動信号を出力する。タイヤ外力検出部29は、転舵アクチュエータ31−34により転舵されたタイヤ91−94にかかるタイヤ外力(SAT)を検出する。路面摩擦係数推定部26は、タイヤ外力を周波数解析し、転舵周波数におけるタイヤ外力と路面摩擦係数との関係に基づき、路面摩擦係数を推定する。【選択図】図1


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    Title :

    VEHICLE STEERING APPARATUS


    Additional title:

    自動車用転舵装置


    Contributors:

    Publication date :

    2021-09-27


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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