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    • 5. 发明授权
    • Front and rear wheel steering system for a vehicle
    • 前轮和后轮转向系统
    • US5199523A
    • 1993-04-06
    • US369085
    • 1989-06-20
    • Masaru AbeYoshimichi KawamotoNorio UkaiTakashi Kohata
    • Masaru AbeYoshimichi KawamotoNorio UkaiTakashi Kohata
    • B62D7/14B62D7/15
    • B62D7/1536
    • A front and rear wheel steering system for a vehicle which transmits a steering input from a front wheel steering gear box to a rear wheel steering gear box via a coupling shaft as a rotation thereof around its longitudinal line and varies a steering gear ratio of rear wheels to front wheels according to the speed of the vehicle. A steering rod for steering the rear wheels with its longitudinal movement is provided with a crank portion which is engaged with a swing shaft pivotally attached to the coupling shaft via a pivot shaft perpendicular thereto so as to perform a gyrating motion around an extension line of the coupling shaft and thereby move the steering rod along its longitudinal direction to achieve a steering action of the rear wheels. The steering rod can be rotated around its longitudinal line according to the vehicle speed so as to displace the crank portion relative to the extension line of the coupling shaft and change the relationship between the rotational angle of the coupling shaft or the steering input to the front wheel steering gear box and the longitudinal movement of the steering rod or the steering angle of the rear wheels.
    • 一种用于车辆的前轮和后轮转向系统,其通过联接轴将其从前轮舵机传递到后轮舵机箱,转向输入沿其纵向线旋转,并且改变后轮的转向齿轮比 根据车辆的速度到前轮。 用于转向后轮的纵向运动的转向杆设置有曲柄部分,该曲柄部分通过与其垂直的枢转轴枢转地连接到联接轴上的摆动轴接合,以便围绕其延伸线执行旋转运动 从而使转向杆沿着其纵向方向移动,以实现后轮的转向动作。 转向杆可以根据车速绕其纵向线旋转,以使曲柄部分相对于联轴器的延长线移动,并改变联轴器或转向输入端的旋转角度与前方的关系 车轮转向齿轮箱和转向杆的纵向运动或后轮的转向角。
    • 6. 发明授权
    • Method of and apparatus for controlling camber of rear wheels of
four-wheel-steerable vehicle
    • 用于控制四轮转向车辆后轮的弯度的方法和装置
    • US4895383A
    • 1990-01-23
    • US184262
    • 1988-04-21
    • Masaru AbeYoshimichi KawamotoTakashi Kohata
    • Masaru AbeYoshimichi KawamotoTakashi Kohata
    • B60G3/18B62D7/14B62D7/15B62D17/00
    • B62D17/00B62D7/1545B60G2200/46
    • A method of and an apparatus for controlling rear road wheel camber of a four-wheel-steerable vehicle having front and rear road wheels steerable in the same or opposite directions. The camber with respect to ground of at least the rear road wheel on the outer side of a cornering curve followed by the vehicle is controlled. The apparatus includes detectors for detecting the direction in which the rear road wheels are steered with respect to the front road wheels, the self-aligning torque on the front road wheels, and the steering force acting on a steering wheel, camber varying devices associated with rear wheel suspensions, actuators for operating the camber varying devices, and a control unit responsive to detected signals from the detectors for applying a control signal to at least one of the actuators to control the camber of at least the rear road wheel on the outer side of the cornering curve when the rear wheels are steered.
    • 一种用于控制四轮转向车辆的后轮车轮外倾的方法和装置,其具有可在相同或相反方向上转向的前轮和后轮。 控制车辆后方转弯曲线外侧至少后轮的地面的弯度。 该装置包括用于检测后轮相对于前车轮转向的方向的检测器,前车轮上的自对准转矩以及作用在方向盘上的转向力, 后轮悬架,用于操作外倾变速装置的致动器,以及响应于来自检测器的检测信号的控制单元,用于向至少一个致动器施加控制信号,以控制外侧的至少后轮的弯度 当后轮转向时的转弯曲线。
    • 7. 发明授权
    • Method of and apparatus for controlling steering operation of a motor
vehicle with steerable front and rear wheels
    • 用于控制具有可转向的前轮和后轮的机动车辆的转向操作的方法和装置
    • US4939653A
    • 1990-07-03
    • US226070
    • 1988-07-29
    • Osamu TsurumiyaMasaru AbeYoshimichi KawamotoTakashi KohataIkuo NonagaMasataka Izawa
    • Osamu TsurumiyaMasaru AbeYoshimichi KawamotoTakashi KohataIkuo NonagaMasataka Izawa
    • B62D7/14B62D7/15
    • B62D7/148B62D7/1581B62D7/159
    • The steering operation of a motor vehicle with steerable front and rear road wheels is controlled by steering the rear road wheels with an actuator such as an electric motor which produces a steering force dependent on a deviation of the actual rear wheel steering angle from a target rear wheel steering angle. The rear road wheels are thus controlled with a characteristic dependent on the coefficient of friction of a road on which the motor vehicle travels and the steering speed at which the motor vehicle is steered. Typically, a steering control method comprises the steps of detecting the steering angle of the front road wheels, determining a target steering angle for the rear wheels based on the steering angle of the front road wheels, detecting the actual steering angle of the rear road wheels, calculating a steering angle deviation of the actual rear wheel steering angle from the target steering angle, determining a rear wheel steering force based on the steering angle deviation, and steering the rear road wheels to the target steering angle with the determined rear wheel steering force.
    • 具有可转向的前轮和后轮的机动车辆的转向操作通过用诸如电动机的致动器转向后轮来控制,该电动机产生取决于实际后轮转向角与目标后方的偏差的转向力 车轮转向角。 因此,后轮车轮的控制特性取决于机动车辆行驶的道路的摩擦系数和机动车辆转向的转向速度。 通常,转向控制方法包括以下步骤:检测前轮的转向角,基于前轮的转向角确定后轮的目标转向角,检测后轮的实际转向角 计算出实际后轮转向角与目标转向角的转向角偏差,基于转向角偏差来确定后轮转向力,并且通过所确定的后轮转向力将后轮转向目标转向角 。