Steering device control method and vehicle

Abstract

The invention discloses a steering device control method and a vehicle. The steering device control method includes: a step for issuing a separation or a joining command to a linking mechanism (63) for moving a pair of rack bars (53, 54), which are capable of steering left and right wheels (w) in opposite lateral directions, in the same lateral direction by the same distance or in opposite lateral directions by the same distance; and a step for relatively driving, using a steering driving means, an engaging part (63a) and / or a receiving part (63b) of the linking mechanism (63) if, after a predetermined time defined in advance has elapsed after the command has been issued, a linking state detection means (78) provided to the linking mechanism (63) has not been able to confirm that the separation or the joining has taken place.

Description

technical field [0001] The present invention relates to a control method of a steering device for smoothly turning wheels of a vehicle equipped with a four-wheel steering mechanism, and a vehicle using the control method. Background technique [0002] In the structure that steers the wheels using the steering linkage mechanism that connects the left and right wheels (hereinafter, including tires, wheels, hubs, and in-wheel motors, etc., collectively referred to as "wheels"), there is a structure called Ackermann steering geometry. steering mechanism. This steering mechanism uses a tie rod and a steering arm so that left and right wheels have the same turning center when the vehicle turns. [0003] As this steering mechanism, for example, there is a structure shown in Patent Document 1 below. This steering mechanism is equipped with a steering link mechanism of the left and right wheels using a tie rod and a steering arm on at least one of the front wheel side or the rear w...

AI Technical Summary

Problems solved by technology

That is, there is a problem that even if the front wheels are steered in the direction of travel of the vehicle, that is, in the direction of turning, the posture of the vehicle cannot be manipulated to match the direction of turning.

However, since actuators are provided to change the length of the tie rods, the distance between the left and right tie rods, or the angle formed by the wheel and the steering arm, there are many actuators and the control is complicated.

In addition, the technology described in Patent Document 2 is based on this mechanism. Not only is the structure complicated, but also a plurality of gears are used to steer the wheels by the rotation of the rack bar.

Therefore, shaking is likely to occur, and it is difficult to smoothly turn the wheels.

[0020] In addition, the technology of Patent Document 3 is an example of a conventional four-wheel steering mechanism and can perform rear wheel steering, but for the same reason as above, it is difficult to perform lateral movement only by this mechanism.

In addition, the technology of Patent Document 4 can perform toe-in adjustment, but on the other hand, it cannot cope with lateral movement of the vehicle, small turns, etc.

[0021] According to the technology disclosed in Patent Document 5, the problems disclosed in Patent Documents 1 to 4 can be eliminated, and the left and right wheels constituting the four-wheel steering mechanism can be steered in opposite directions to the left and right, so that special driving conditions such as normal driving mode and stationary turning mode can be achieved. The modes can be switched freely, but it is not possible to switch the driving mode as described above if an abnormality such as engagement occurs in the coupling mechanism and an abnormality of separation or coupling is detected by the coupling state detection unit

Although it is considered to overcome the above-mentioned meshing and adopt a driving mechanism such as an actuator with a large driving force, there are concerns about problems such as increased power consumption, increased driving time, and size of the device, making it difficult to adopt such a driving mechanism in reality.

Images