To provide a vehicle travelling direction detecting device that detects the travelling direction of an oblique movement of a vehicle relative to a back-and-forth axis in an independent-steering-type vehicle.SOLUTION: In a vehicle in which each tire can independently turn, acceleration is produced by braking and driving force of each tire output by each of braking and driving actuators 81 to 84. A first acceleration sensor 35 and a second acceleration sensor 36 detect accelerations in a first axis and a second axis, respectively, which intersect with each other on a parallel plane to a road surface. A running instructing unit 25 of a vehicle travelling direction detecting device 20 instructs respective target tire angles δ*1 to δ*4 for respective turning actuators 71 to 74, and respective target braking and driving forces BD*1 to BD*4 for the respective braking and driving actuators 81 to 84. When braking and driving control is performed on a vehicle, an oblique movement angle calculating unit 26 calculates, based on the acceleration αx in the first axis obtained from the first acceleration sensor 35 and the acceleration αy in the second axis obtained from the second acceleration sensor 36, an oblique movement angle θ that is the angle of the travelling direction of the vehicle relative to the back-and-forth axis.SELECTED DRAWING: Figure 3
【課題】独立転舵車両における、車両前後軸に対する斜め移動の進行方向を検出する車両進行方向検出装置を提供する。【解決手段】各タイヤが独立して転舵可能な車両において、制駆動アクチュエータ81-84が出力した各タイヤの制駆動力により加速度が発生する。第1加速度センサ35及び第2加速度センサ36は、路面に平行な平面において互いに交差する第1軸及び第2軸の加速度をそれぞれ検出する。車両進行方向検出装置20の走行指示部25は、転舵アクチュエータ71-74に対する目標タイヤ角δ*1-δ*4、及び、制駆動アクチュエータ81-84に対する目標制駆動力BD*1-BD*4を指示する。斜め移動角度算出部26は、車両の制駆動時に、第1加速度センサ35から取得した第1軸の加速度αx、及び、第2加速度センサ36から取得した第2軸の加速度αyに基づき、車両の前後軸に対する進行方向の角度である斜め移動角度θを算出する。【選択図】図3
VEHICLE TRAVELLING DIRECTION DETECTING DEVICE
車両進行方向検出装置
2024-12-17
Patent
Electronic Resource
Japanese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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