To provide a control device of a four-wheel steering vehicle capable of properly performing four-wheel steering regardless vehicle speed or steering speed.SOLUTION: A control device of a four-wheel steering vehicle includes a steering wheel 5, a front wheel steering device 3 steering a front wheel 1, and a rear wheel steering device 4 steering a rear wheel 2, and operates the front wheel steering device 3 and the rear wheel steering device 4 on the basis of an operation state of the steering wheel 5. A first steering operating the steering wheel 5 in a predetermined direction, and a second steering operating the steering wheel 5 in a direction opposite to the first steering are continuously carried out. When the rear wheel 2 is steered in a direction opposite to a steering direction of the front wheel 1, an absolute value of the steering angle speed of the front wheel 1 steered corresponding to the first steering is higher than a first threshold value, and an absolute value of the steering angle speed of the front wheel 1 steered corresponding to the second steering is higher than a second threshold value, the steering of the rear wheel 2 corresponding to the second steering is limited (step S4).SELECTED DRAWING: Figure 3
【課題】車速や操舵の速さにかかわらず、適切に、四輪操舵を行うことが可能な四輪操舵車両の制御装置を提供する【解決手段】ステアリングホイール5と、前輪1を転舵させる前輪操舵装置3と、後輪2を転舵させる後輪操舵装置4とを備え、ステアリングホイール5の操作状態に基づいて、前輪操舵装置3および後輪操舵装置4を動作させる四輪操舵車両の制御装置において、ステアリングホイール5が所定の方向に操作される第1操舵と、ステアリングホイール5が第1操舵と逆の方向に操作される第2操舵とが連続して行われ、前輪1の転舵方向と逆の方向に後輪2を転舵させる際に、第1操舵に対応して転舵される前輪1の転舵角速度の絶対値が第1閾値よりも高く、かつ、第2操舵に対応して転舵される前輪1の転舵角速度の絶対値が第2閾値よりも高い場合は、第2操舵に対応する後輪2の転舵を制限する(ステップS4)。【選択図】図3
CONTROL DEVICE OF FOUR-WHEEL STEERING VEHICLE
四輪操舵車両の制御装置
2024-08-28
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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