To provide a turning wheel control device, a steering device and a turning wheel control method which determines right and left turning wheel angles of right and left turning wheels by focusing on a ratio of tire sliding angles.SOLUTION: A turning control device 130 for controlling a driving device 110 which independently turns turning wheels 210 provided on right and left sides includes: a turning angle acquiring part 131 which acquires an instructed turning angle; a tire sliding angle ratio acquiring part 132 which acquires a tire sliding angle ratio of the right and left turning wheels 210; a target turning angle determining part 133 which determines a first target turning angle of one of the turning wheels 210 based on the instructed turning angle, and determines a second target turning angle of the other of the turning wheels 210 by using the first target turning angle, vehicle speed, a yaw rate, an axial distance from a gravity center to a turning wheel shaft, a left distance from the gravity center to the left turning wheel 210, a right distance to the right turning wheel 210, a vehicle body sliding angle, and the tire sliding angle ratio; and a turning control part 134 which controls the driving device 110 so that the target turning angles and real turning angles of the respective turning wheels 210 become equal to each other.SELECTED DRAWING: Figure 2
【課題】タイヤ滑り角の比に着目して左右の転舵輪の転舵角を決定する。【解決手段】左右に設けられる転舵輪210を独立に転舵する駆動装置110を制御する転舵制御装置130であって、指示転舵角を取得する転舵角取得部131と、左右の転舵輪210のタイヤ滑り角比を取得するタイヤ滑り角比取得部132と、指示転舵角に基づき一方の転舵輪210の第一目標転舵角を決定し、第一目標転舵角、車速、ヨーレート、重心から転舵輪軸までの軸距離、重心から左の転舵輪210までの左距離、右の転舵輪210までの右距離、車体滑り角、タイヤ滑り角比を用いて、他方の転舵輪210の第二目標転舵角を決定する目標転舵角決定部133と、目標転舵角とそれぞれの転舵輪210の実転舵角とが一致するように駆動装置110を制御する転舵制御部134と、を備える転舵制御装置。【選択図】図2
TURNING WHEEL CONTROL DEVICE, STEERING DEVICE AND TURNING WHEEL CONTROL METHOD
転舵制御装置、ステアリング装置、および転舵制御方法
2022-07-20
Patent
Electronic Resource
Japanese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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