PROBLEM TO BE SOLVED: To provide a rear-wheel steering control apparatus capable of suppressing discomfort in a vehicular behavior associated with steering while securing vehicular maneuverability.SOLUTION: A rear-wheel steering control apparatus includes: a rear-wheel steering device 30 for steering a rear wheel WR by driving a rear-wheel steering motor 31; and a rear-wheel steering controller 40 for operating the rear-wheel steering device 30 so as to steer the rear wheel WR with a first-order delay relative to a steering angle θ. Further, the rear-wheel steering controller 40 performs: calculating a rear-wheel steering angle target value δ(S) on the basis of a product of a steady-state gain α(θ) that is set so that a rear-wheel steering angle is changed with a pre-set characteristic in response to a front-wheel steering angle and a first-order delay-derived component {1/(1+τ*S)}θ that is set so than the rear-wheel steering angle is changed with a first-order delay relative to the front-wheel steering angle, and, in the case of an absolute value of steering angular velocity θexceeding an angular velocity determination value θ, decreasing the first-order delay-derived component proportionately as an absolute value of the steering angular velocity θincreases.SELECTED DRAWING: Figure 1
【課題】車両の取り回し性は確保しつつ、操舵に対する車両挙動の違和感を抑制可能な後輪転舵制御装置を提供すること。【解決手段】後輪転舵モータ31を駆動させて後輪WRを転舵させる後輪転舵装置30と、操舵角θに対して一次遅れで後輪WRを転舵させるよう前記後輪転舵装置30を作動させる後輪転舵コントローラ40と、を備え、後輪転舵コントローラ40は、前輪転舵角に応じて後輪転舵角が予め設定された特性で変化するように設定された定常ゲインα(θ)と、前輪転舵角に対し前記後輪転舵角を一次遅れで変化させるよう設定された一次遅れ由来成分{1/(1+τ・S)}θと、の積に基づいて後輪転舵角目標値δr*(S)を求め、かつ、操舵角速度θ*の絶対値が角速度判定値θ0*を超えた場合に、操舵角速度θ*の絶対値が大きいほど一次遅れ由来成分を減少させることを特徴とする後輪転舵制御装置とした。【選択図】図1
REAR-WHEEL STEERING CONTROL APPARATUS
後輪転舵制御装置
30.05.2016
Patent
Elektronische Ressource
Japanisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |