Vehicle steering apparatus and vehicle steering method
First Claim
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1. A vehicle steering apparatus comprising:
- a driving state detecting device for detecting a driving state of the vehicle;
a wheel adjusting device for adjusting separately the wheel angles of left and right wheels;
a judgment portion for determineing whether vehicle braking is to be permitted or not based on the driving state of the vehicle; and
a control portion controlling the wheel adjusting device, wherein, in the case that vehicle braking is permitted by the judgment portion, the control portion sets the wheel angles of the left and right wheels to be in opposite phase and adjusts the wheel angles in accordance with the braking force to be applied to the left and right wheels.
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Abstract
A wheel adjusting device can adjust separately the wheel angles of left and right wheels. A judgment portion which determines whether vehicle braking is to be permitted or not based on the driving state of the vehicle. A control portion controls the wheel adjusting device. More specifically, under conditions where the vehicle braking is permitted by the judgment portion, the control portion defines the wheel angles of the left and right wheels to be in opposite phase and adjusts the wheel angles in accordance with the braking force to be applied to the left and right wheels.
12 Citations
8 Claims
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1. A vehicle steering apparatus comprising:
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a driving state detecting device for detecting a driving state of the vehicle;
a wheel adjusting device for adjusting separately the wheel angles of left and right wheels;
a judgment portion for determineing whether vehicle braking is to be permitted or not based on the driving state of the vehicle; and
a control portion controlling the wheel adjusting device, wherein, in the case that vehicle braking is permitted by the judgment portion, the control portion sets the wheel angles of the left and right wheels to be in opposite phase and adjusts the wheel angles in accordance with the braking force to be applied to the left and right wheels. - View Dependent Claims (2, 3, 4, 6)
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5. The vehicle steering apparatus according to claim, further comprising:
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a detecting portion which directly detects the longitudinal force and lateral force acting on the wheels, wherein the control portion estimates the braking force based on the longitudinal force, lateral force and angle of wheels.
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7. A vehicle steering method comprising:
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a first step of determining whether vehicle braking is to be permitted or not based on a driving state of the vehicle; and
a second step of controlling the wheel angles of left and right wheels, wherein, in the case that the vehicle braking is permitted, the second step sets the wheel angles of the left and right wheels to be in opposite phase and adjusts the wheel angles in accordance with the braking force to be applied to the left and right wheels. - View Dependent Claims (8)
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Specification