KR970005998B1 - Four wheel steering device - Google Patents
Four wheel steering device Download PDFInfo
- Publication number
- KR970005998B1 KR970005998B1 KR1019950003071A KR19950003071A KR970005998B1 KR 970005998 B1 KR970005998 B1 KR 970005998B1 KR 1019950003071 A KR1019950003071 A KR 1019950003071A KR 19950003071 A KR19950003071 A KR 19950003071A KR 970005998 B1 KR970005998 B1 KR 970005998B1
- Authority
- KR
- South Korea
- Prior art keywords
- rear wheel
- steering
- wheel angle
- angle
- manual
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
- B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
- B62D7/15—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels
- B62D7/1509—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels with different steering modes, e.g. crab-steering, or steering specially adapted for reversing of the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2400/00—Special features of vehicle units
- B60Y2400/84—Rear wheel steering; All wheel steerings
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
Description
제1도는 본 발명의 4륜 조향장치의 수동 조정장치 블록도.1 is a block diagram of a manual adjustment device of the four-wheel steering of the present invention.
제2도는 본 발명의 4륜 조향장치의 수동 조정방법의 흐름도.2 is a flowchart of a manual adjustment method of a four-wheel steering apparatus of the present invention.
* 도면의 주요부분에 대한 부호의 설명* Explanation of symbols for main parts of the drawings
10 : 차속센서 11 : 전륜각 센서10: vehicle speed sensor 11: front wheel angle sensor
12 : 후륜각 센서 20 : 후륜조향액튜에이터12: rear wheel angle sensor 20: rear wheel steering actuator
30 : ECU 40 : 모드선택 스위치30: ECU 40: mode selection switch
41 : 수동후륜각조정기 42 : 후륜각 포시계기41: rear wheel angle adjuster 42: rear wheel angle watchmaker
본 발명은 4륜 조향장치가 장착된 자동차에 있어서, 저속인 5km/H 이내의 속도에서 뒷바퀴를 수동으로 조절하여 복잡한 골목이나, 주차시에 조작을 용이하게 하는 4륜 조향장치의 수동 조정장치 및 조정방법에 관한 것이다.The present invention is a vehicle equipped with a four-wheel steering device, a manual adjustment device for a four-wheel steering device for the manual control of the rear wheel at a speed of less than 5km / H at a low speed to facilitate the operation in a complicated alley or parking, and It is about an adjustment method.
종래의 4륜 조향장치는 자동차의 동적상태를 파악하여 자동차의 움직임의 슬립각을 없애주도록 후륜각을 자동조정 되도록 되어 있다. 그러므로, 선회시 선회반경을 줄이며, 주차를 용이하게 하며, 고속 차선변경의 안전성을 높히는 효과가 있다.The conventional four-wheel steering device is configured to automatically adjust the rear wheel angle to grasp the dynamic state of the vehicle and to eliminate the slip angle of the movement of the vehicle. Therefore, there is an effect of reducing the turning radius when turning, facilitating parking, and increasing the safety of the fast lane change.
그러나, 이러한 종래 장치는 복잡한 골목에서 운전하는 것과 주차시 4륜 조향의 효과가 미흡한 점이 있다.However, such a conventional device has a disadvantage in that driving in a complicated alley and parking effect of four-wheel steering is insufficient.
본 발명의 목적은 상기와 같은 종래의 문제점을 해결하기 위한 것으로, 저속시에 뒷바퀴를 수동으로 조향할 수 있도록 별도의 조향조정기를 장착하여, 4륜 조향의 잇점을 최대한 이용하기 위한 4륜 조향장치의 수동 조정장치 및 조정방법을 제공하는데 있다.An object of the present invention is to solve the conventional problems as described above, equipped with a separate steering adjuster to manually steer the rear wheel at low speed, the four-wheel steering device for maximizing the benefits of four-wheel steering It provides a manual adjustment device and a method of adjustment.
이하 본 발명의 기술적 구성을 상세히 설명하면 다음과 같다.Hereinafter, the technical configuration of the present invention in detail.
본 발명 장치는 제1도에 나타낸 바와 같이, 차속센서(10), 전륜각센서(11), 후륜각센서(12)와 후륜조향액튜에이터(20)와, ECU(30)로 이루어진 4륜 조향장치에 있어서, 자동조향과 수동조향의 모드를 선택할 수 있는 모드선택스위치(40)와; 운전자가 후륜의 조향각을 조절할 수 있는 조정기인 수동후륜각조정기(41)와; 조정된 각을 운전자에게 표시하여 보여줄 수 있는 표시기인 후륜각 표시계기(42)로 구성함을 그 기술적 구성상의 특징으로 한다.As shown in FIG. 1, the apparatus of the present invention includes a four-wheel steering device including a vehicle speed sensor 10, a front wheel angle sensor 11, a rear wheel angle sensor 12, a rear wheel steering actuator 20, and an ECU 30. In the mode, the mode selection switch 40 for selecting the mode of automatic steering and manual steering; A manual rear wheel angle adjuster 41 that is a driver for adjusting a steering angle of the rear wheel; It is characterized by its technical configuration that the rear wheel angle indicator 42 is an indicator capable of displaying and displaying the adjusted angle to the driver.
그리고, 본 발명 4륜 조향장치의 수동 조정방법은 모드선택스위치(40)와 차속센서(10)에서의 신호를 감지하는 단계(S1)와; 상기 모드선택스위치(40)의 스위치의 상태와 차속센서(10)에서 감지된 신호에 따라 수동조향과 자동조향을 선택하는 단계(S2)와; 상기 단계에서 선택됨에 따라 자동조향단계(S3) ; 수동조향단계(S4) ; 와 상기 조향단계(S3,S4)에 따라 실제 후륜조향액튜에이터(20)를 구동하는 단계(S5)로 이루어짐을 특징으로 한다.In addition, the manual adjustment method of the four-wheel steering apparatus of the present invention includes: detecting a signal from the mode selection switch 40 and the vehicle speed sensor 10 (S1); Selecting manual steering and automatic steering according to the state of the switch of the mode selection switch 40 and the signal sensed by the vehicle speed sensor 10 (S2); Automatic steering step (S3) as selected in the step; Manual steering step (S4); And driving the actual rear wheel steering actuator 20 in accordance with the steering steps S3 and S4.
이하, 본 발명 장치의 실시예를 제1도와 제2도를 참조하여 설명하면, 먼저, 신호를 감지하는 단계(S1)에서는 모드선택스위치(40)와 차속센서(10)에서의 각각의 신호를 감지하고, 수동조향과 자동조향을 선택하는 단계(S2)에서는 상기 단계(S1)에서 감지된 신호로서 선택모드가 수동인 경우와 차량의 속도가 5km/H 이하인 경우에는 수동조향단계(S4)를 실행하게 되고, 그렇지 않은 경우에는 자동조향단계(S3)를 실행하게 된다.Hereinafter, an embodiment of the apparatus of the present invention will be described with reference to FIGS. 1 and 2. First, in the step S1 of detecting a signal, each signal of the mode selection switch 40 and the vehicle speed sensor 10 is applied. In step S2 of detecting and selecting manual steering and auto steering, when the selection mode is manual and the vehicle speed is 5 km / H or less as the signal detected in step S1, the manual steering step S4 is performed. If not, the automatic steering step S3 is executed.
일예로, 선택모드가 수동이고, 차량속도가 5km/H 이하인 경우에는, 수동 조정기(31)에 운전자가 조작한 목표 후륜각을 계산하게 된다. 그리고, 후륜각센서(12)에서 감지된 후륜각을 계산하여, 후륜각 표시계기(32)에 표시하게 되어 운전자가 볼 수 있게 되며, 현재 후륜각과 수동후륜각조절기(41)의 목표후륜각을 계산하여, 그 편차량에 따라서 후륜조향액튜에이터(20)를 구동하게 된다(S5). 이러한, S1, S2, S4, S5의 실행은 매우 빠른 속도이므로 후륜각 표시계기(42)에 표시되는 후륜각의 변화는 운전자가 수동후륜각조정기(41)를 조절함과 동시에 일어난다. 다른 예로, 선택모드가 수동이고, 차량속도가 5km/H 이상인 경우와, 선택모드가 자동인 경우에는, 자동조향단계(S3)를 실행하게 된다.For example, when the selection mode is manual and the vehicle speed is 5 km / H or less, the manual rear wheel 31 calculates the target rear wheel angle operated by the driver. Then, the rear wheel angle detected by the rear wheel angle sensor 12 is calculated and displayed on the rear wheel angle indicator 32 so that the driver can see the current rear wheel angle and the target rear wheel angle of the manual rear wheel angle adjuster 41. By calculating, the rear wheel steering actuator 20 is driven according to the deviation amount (S5). Since the execution of S1, S2, S4, and S5 is a very high speed, the change of the rear wheel angle displayed on the rear wheel angle indicator 42 occurs simultaneously with the driver adjusting the manual rear wheel angle adjuster 41. As another example, when the selection mode is manual and the vehicle speed is 5 km / H or more, and when the selection mode is automatic, the automatic steering step S3 is executed.
상기 자동조항단계(S3)에서는, 전륜각센서(11)에서 현재 전륜각을 감지한 것을 계산하여, 슬립각이 '0'이 되도록 목표후륜각을 계산하게 되고, 현재 후륜각과 목표후륜각의 편차량을 계산하여, 편차량에 따라서 후륜조향액튜에이터(20)를 구동하게 된다(S5).In the automatic steering step (S3), by calculating the current front wheel angle detected by the front wheel angle sensor 11, the target rear wheel angle is calculated so that the slip angle is '0', the current rear wheel angle and the target rear wheel angle By calculating the vehicle, the rear wheel steering actuator 20 is driven according to the deviation amount (S5).
마찬가지로, S1, S2, S3, S5의 실행은 매우 빠른 속도이므로 조향핸들의 조작과 동시에 후륜각의 변화가 일어난다.Similarly, since the execution of S1, S2, S3, S5 is very fast, the rear wheel angle changes simultaneously with the steering wheel operation.
이상에서 살펴 본 바와 같이, 본 발명 장치는 저속인 5km/H 이내의 속도에서 뒷바퀴를 수동으로 조절하여 복잡한 골목이나, 주차시에 조작을 용이하게 하여 운전자의 편의성을 높여줄 수 있는 유용한 것이다.As described above, the device of the present invention is useful to increase the convenience of the driver by manually adjusting the rear wheel at a speed of less than 5km / H at a low speed, facilitating the operation during a complicated alley or parking.
Claims (2)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR1019950003071A KR970005998B1 (en) | 1995-02-17 | 1995-02-17 | Four wheel steering device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR1019950003071A KR970005998B1 (en) | 1995-02-17 | 1995-02-17 | Four wheel steering device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| KR960031256A KR960031256A (en) | 1996-09-17 |
| KR970005998B1 true KR970005998B1 (en) | 1997-04-23 |
Family
ID=19408314
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| KR1019950003071A KR970005998B1 (en) | 1995-02-17 | 1995-02-17 | Four wheel steering device |
Country Status (1)
| Country | Link |
|---|---|
| KR (1) | KR970005998B1 (en) |
-
1995
- 1995-02-17 KR KR1019950003071A patent/KR970005998B1/en not_active IP Right Cessation
Also Published As
| Publication number | Publication date |
|---|---|
| KR960031256A (en) | 1996-09-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US5386365A (en) | Rear wheel steering system for vehicle | |
| KR100897646B1 (en) | Lane-change assistant for motor vehicles | |
| US5709281A (en) | Method and apparatus for adjusting steering feel | |
| US5396426A (en) | Constant speed traveling apparatus for vehicle with inter-vehicle distance adjustment function | |
| US6055467A (en) | Apparatus for automatic transverse vehicle guidance along a traffic lane | |
| US5001636A (en) | Yaw motion control device | |
| KR970001030A (en) | Vehicle behavior control device | |
| US4716981A (en) | Apparatus for steering front and rear wheels of a motor vehicle | |
| US6626563B2 (en) | Automatic optical-axis adjusting device for automatically adjusting optical axes of front lights of vehicle with reduced number of signals | |
| KR970005998B1 (en) | Four wheel steering device | |
| JP5292965B2 (en) | Travel control device | |
| JPH08192663A (en) | Display device for running control device of vehicle | |
| JPH07160993A (en) | Lane maintenance controller for vehicle | |
| JP3122263B2 (en) | Learning control car | |
| JPH05156976A (en) | Driving controller for vehicle | |
| EP1336550B1 (en) | A driving assistance system for a motor vehicle | |
| KR20200091557A (en) | Vehicle stability control method and apparatus | |
| JPH04201749A (en) | Rear view mirror device | |
| US4583172A (en) | Motor vehicle | |
| KR100193009B1 (en) | Parking guide apparatus | |
| KR100204785B1 (en) | Speed responsive steering angle control method | |
| JP2722876B2 (en) | Inter-vehicle distance display | |
| KR100410494B1 (en) | device and method for controlling turn signal lamp | |
| JP3498851B2 (en) | Traveling distance detection device for traveling vehicles | |
| JP3003335B2 (en) | Travel control device for vehicles |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| A201 | Request for examination | ||
| G160 | Decision to publish patent application | ||
| E701 | Decision to grant or registration of patent right | ||
| GRNT | Written decision to grant | ||
| FPAY | Annual fee payment |
Payment date: 20030421 Year of fee payment: 7 |
|
| LAPS | Lapse due to unpaid annual fee |