To improve turning performance or steering performance of a vehicle configured to improve comfort when a steering wheel is turned.SOLUTION: At the time of turning traveling by turning front wheels and rear wheels in phase with each other, a first rear wheel turning angle targetδr1 determined on the basis of a steering angle or a turning angle δf of the front wheel and a second rear wheel turning angle targetδr2 based on a turning curvature ρ at a turning location in which a four-wheel steering vehicle is going to travel or a physical quantity corresponding to the turning curvature ρ are obtained, and a turning angle targetδr of the rear wheel is obtained on the basis of the first rear wheel turning angle targetδr1 and the second rear wheel turning angle targetδr2. The first rear wheel turning angle targetδr1 set to improve comfort is corrected by the second rear wheel turning angle targetδr2 based on the turning curvature ρ and a rear wheel turning angle targetδr is determined, and thus comfort and turning performance can be improved.SELECTED DRAWING: Figure 2
【課題】操舵輪を転舵した場合の快適性を向上させるように構成された車両の旋回性能もしくは操舵性を向上させる。【解決手段】前輪と後輪とを同相に転舵して旋回走行する場合に、前輪の操舵角もしくは転舵角δfに基づいて決まる第1後輪転舵角targetδr1と、四輪操舵車両が走行しようとする旋回箇所の旋回曲率ρまたは旋回曲率ρに対応する物理量に基づく第2後輪転舵角targetδr2とを求めるとともに、第1後輪転舵角targetδr1と第2後輪転舵角targetδr2とに基づいて後輪の転舵角targetδrを求める。快適性を向上させるように設定される第1後輪転舵角targetδr1を、旋回曲率ρに基づく第2後輪転舵角targetδr2によって補正し後輪転舵角targetδrとするので、快適性と旋回性を向上させることができる。【選択図】 図2
FOUR-WHEEL STEERING VEHICLE CONTROL DEVICE
四輪操舵車両の制御装置
2024-04-24
Patent
Electronic Resource
Japanese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Four-wheel independent steering control method for horizontal four-steering-wheel chassis vehicle
European Patent Office | 2023
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