公开(公告)号：US4964481A

公开(公告)日：1990-10-23

申请号：US690167

申请日：1985-01-10

Applicant: Shoichi Sano ,  Yoshimi Furukawa ,  Tetsuro Hamada

Inventor： Shoichi Sano ,  Yoshimi Furukawa ,  Tetsuro Hamada

IPC: B62D7/15

CPC classification number: B62D7/159

Abstract: A steering system for a vehicle with a steerable front wheel (5) and a rear wheel (11) controlled to be steered in accordance with a travelling state representative quantity (.delta..sub.f, V, .alpha..sub.a), wherein the rear wheel is steered taking into account at least a ratio of a cornering power (Kr) thereof to a vertical load on the tire thereof, besides the travelling state representative quantity.

Abstract translation: 一种具有可转向前轮（5）和后轮（11）的车辆的转向系统，其被控制为根据行驶状态代表量（Δf，V，αa）进行转向，其中后轮被转向 除了行驶状态代表量之外，至少考虑到其转弯功率（Kr）与其轮胎上的垂直载荷的比率。

公开(公告)号：US4971175A

公开(公告)日：1990-11-20

申请号：US684613

申请日：1984-12-21

Applicant: Tetsuro Hamada ,  Shoichi Sano ,  Yoshimi Furukawa

Inventor： Tetsuro Hamada ,  Shoichi Sano ,  Yoshimi Furukawa

IPC: B62D7/15

CPC classification number: B62D7/159

Abstract: A steering system (1) for vehicles including a front wheel steering mechanism (1a) for steering front wheels (5) at an angle in accordance with a steering operation of a driver, and a rear wheel steering mechanism (1b) for steering rear wheels (11) at an angle (Sr) in accordance with a travelling state of the vehicle. For the steering of the rear wheel, a reference steering angle (Ar) according to a turning state of the vehicle and a corrective steering angle (Ac) according to a velocity derivative thereof are computed, and the steering angle (Sr) of the rear wheel is obtained by making either an addition or a subtraction of the reference and corrective steering angles at least in accordance with the velocity derivative.

Abstract translation: 一种用于车辆的转向系统（1），包括根据驾驶员的转向操作以一定角度转向前轮（5）的前轮转向机构（1a）和用于转向后轮的后轮转向机构 （11）根据车辆的行驶状态成角度（Sr）。 对于后轮的转向，计算根据车辆的转向状态的基准转向角（Ar）和根据其的速度导数的矫正转向角（Ac），并且后轮的转向角（Sr） 通过至少根据速度导数进行参考的加法或减法和矫正转向角来获得车轮。

公开(公告)号：US5010971A

公开(公告)日：1991-04-30

申请号：US189657

申请日：1988-05-03

Applicant: Tetsuro Hamada ,  Shoichi Sano ,  Yoshimi Furukawa

Inventor： Tetsuro Hamada ,  Shoichi Sano ,  Yoshimi Furukawa

IPC: B62D7/15

CPC classification number: B62D7/159

Abstract: A steering system (1) for vehicles including a front wheel steering mechanism (1a) for steering front wheels (5) at an angle in accordance with a steering operation of a driver, and a rear wheel steering mechanism (1b) for steering rear wheels (11) at an angle (Sr) in accordance with a travelling state of the vehicle.For the steering of the rear wheel, a reference steering angle (Ar) according to a turning state of the vehicle and a corrective steering angle (Ac) according to a velocity derivative thereof are computed, and the steering angle (Sr) of the rear wheel is obtained by making either an addition or a subtraction of the reference and corrective steering angles at least in accordance with the velocity derivative.

公开(公告)号：US4706976A

公开(公告)日：1987-11-17

申请号：US822010

申请日：1986-01-24

Applicant: Yoshimichi Kawamoto ,  Yoshimi Furukawa ,  Tetsuro Hamada ,  Mitsuya Serizawa

Inventor： Yoshimichi Kawamoto ,  Yoshimi Furukawa ,  Tetsuro Hamada ,  Mitsuya Serizawa

IPC: B62D6/02 ,  B62D7/14 ,  B62D7/15

CPC classification number: B62D7/1545

Abstract: In a front and rear wheel steering device for a vehicle in which the steering angle ratio of the rear wheels relative to the front wheels is variable according to the vehicle speed, by accounting for the magnitude of vehicle acceleration in determining the steering angle ratio of the rear wheels by using a mathematical function in the form of f(u) - g(u')where u is a vehicle speed and u' is a change rate of the vehicle speed, it is possible to reduce the slip angle of the vehicle to zero irrespective of the vehicle speed and the vehicle acceleration and the phase delay of the lateral response of the vehicle can be reduced, whereby the driveability of the vehicle is substantially improved and, thus, driving a car can be made easier, safer and less tiring.

Abstract translation: 在前轮和后轮转向装置中，其中后轮相对于前轮的转向角比可根据车速而变化，通过考虑确定车辆的转向角比的车辆加速度的大小， 通过使用f（u）-g（u'）形式的数学函数，其中u是车速，u'是车速的变化率，可以减小车辆的滑移角 无论车速如何，车辆的加速度和车辆的横向响应的相位延迟都可以减小，由此可以显着提高车辆的驾驶能力，因此可以使驾驶汽车更容易，更安全，更少 累了

公开(公告)号：US4695068A

公开(公告)日：1987-09-22

申请号：US822000

申请日：1986-01-24

Applicant: Yoshimichi Kawamoto ,  Yoshimi Furukawa ,  Tetsuro Hamada ,  Mitsuya Serizawa

Inventor： Yoshimichi Kawamoto ,  Yoshimi Furukawa ,  Tetsuro Hamada ,  Mitsuya Serizawa

IPC: B62D7/15 ,  B62D6/00

CPC classification number: B62D7/1545

Abstract: In a front and rear wheel steering device contive for vehicle in which the steering angle ratio of the rear wheels relative to the front wheels is variable according to the vehicle speed, provision of a manual selection means for fixing the steering angle ratio to certain fixed values which may be either positive or negative can greatly improve the maneuverability of the vehicle in both high speed and low speed ranges. However, inadvertent manual selection of the steering angle ratio is not desirable since it may cause a sudden change in the steering angle of the rear wheels. Therefore, this invention provides means for preventing the manual selection of the steering angle ratio when it is not proper. This means may be an active prohibition control of manual steering angle ratio selection means, an alarm to warn the driver or a vehicle speed control which limits the vehicle speed. The situations in which the manual selection of the steering angle ratio is not proper may be determined from such factors as vehicle acceleration, transmission shift position, steering rate and so on.

Abstract translation: 在后轮相对于前轮的转向角比可根据车速而变化的车辆用后轮转向装置中，设置用于将转向角比固定为某一固定值的手动选择装置 其可以是正的或负的可以大大提高车辆在高速和低速范围内的机动性。 然而，无意的手动选择转向角比是不期望的，因为它可能导致后轮的转向角的突然变化。 因此，本发明提供了当不适当时防止手动选择转向角比的装置。 这意味着可以是手动转向角比选择装置的主动禁止控制，警告驾驶员的警报或限制车辆速度的车速控制。 可以根据车辆加速度，变速档位，转向率等因素来确定手动选择转向角比例不正确的情况。

公开(公告)号：US4697816A

公开(公告)日：1987-10-06

申请号：US822043

申请日：1986-01-24

Applicant: Yoshimichi Kawamoto ,  Yoshimi Furukawa ,  Tetsuro Hamada ,  Mitsuya Serizawa

Inventor： Yoshimichi Kawamoto ,  Yoshimi Furukawa ,  Tetsuro Hamada ,  Mitsuya Serizawa

IPC: B62D6/02 ,  B62D7/14 ,  B62D7/15 ,  B62D5/06

CPC classification number: B62D7/1545

Abstract: In a front and rear wheel steering device for a vehicle in which the steering angle ratio of the rear wheels relative to the front wheels is variable according to the vehicle speed, by accounting for the magnitude of vehicle acceleration in determining the steering angle ratio of the rear wheels by selecting a mathematical function from a plurality thereof, the vehicle response particularly in high speed range can be improved. Smooth transition from a certain characteristics to another may be achieved either by preparing a number of mathematical functions of vehicle speed for the steering angle ratio of the rear wheels or providing some time delay in the transition from one characteristics to another, preferably in proportion to the magnitude of the vehicle acceleration.

Abstract translation: 在前轮和后轮转向装置中，其中后轮相对于前轮的转向角比可根据车速而变化，通过考虑确定车辆的转向角比的车辆加速度的大小， 通过从多个数学函数中选择数学函数，可以提高特别是在高速范围内的车辆响应。 从一定特性到另一特性的平滑过渡可以通过为后轮的转向角比准备多个车速的数学函数或者在从一个特性到另一特性的转变中提供一些时间延迟来实现，优选地与 车辆加速度的大小。

公开(公告)号：US4687216A

公开(公告)日：1987-08-18

申请号：US844803

申请日：1986-03-27

Applicant: Yoshimich Kawamoto ,  Yoshimi Furukawa ,  Tetsuro Hamada ,  Mitsuya Serizawa

Inventor： Yoshimich Kawamoto ,  Yoshimi Furukawa ,  Tetsuro Hamada ,  Mitsuya Serizawa

IPC: B62D7/15 ,  B62D6/02

CPC classification number: B62D7/1545

Abstract: In a front and rear wheel steering device for vehicle for variably controlling the steering angle ratio of rear wheels relative to the steering angle of front wheels according to a certain mathematical function of vehicle speed in such a manner that the rear wheels are steered in opposite phase relationship in a low speed range and in same phase relationship in a high speed range, by providing a selection means for manually selecting a special mathematical function for an extremely low speed range which will cause a same phase relationship at an extremely low speed and a smooth transition to the certain mathematical function, parking the car along a curbstone and changing the lateral position of the vehicle in a limited space are simplified since the rear part of the vehicle will not swing laterally. Since such a manual setting is not suitable for low to medium speed range, a means for automatically releasing the manual selection may be advantageously provided to the system to the end of reducing the burden on the driver.

Abstract translation: 在用于车辆的前轮和后轮转向装置中，用于根据车速的某种数学函数可变地控制后轮相对于前轮的转向角的转向角比，使得后轮相反地转向 关系在低速范围内，并且在高速范围内具有相同的相位关系，通过提供一种选择装置，用于手动选择极低速范围的特殊数学函数，这将极低速度和平滑地产生相同的相位关系 过渡到某种数学功能，车辆沿着路边停车并且在有限的空间中改变车辆的横向位置被简化，因为车辆的后部将不会横向摆动。 由于这种手动设置不适用于低速到中等速度范围，所以可以有利地提供一种用于自动释放手动选择的装置，以最终减少驾驶员的负担。

公开(公告)号：US4767129A

公开(公告)日：1988-08-30

申请号：US821998

申请日：1986-01-24

Applicant: Yoshimichi Kawamoto ,  Yoshimi Furukawa ,  Tetsuro Hamada ,  Mitsuya Serizawa

Inventor： Yoshimichi Kawamoto ,  Yoshimi Furukawa ,  Tetsuro Hamada ,  Mitsuya Serizawa

IPC: B62D7/15 ,  B62D9/00

CPC classification number: B62D7/1545

Abstract: Disclosed is an actuator for steering the rear wheels in front and rear wheel steering device for vehicle in which the external forces, such as the self aligning torque of the rear wheels and irregularities of the road surface, which may be applied to the rear wheels are prevented from being transmitted to the actuator for controlling the steering angle of the rear wheels. Thereby, the steering angle of the rear wheels are determined solely by the control action of the front and rear wheel steering device and the motion of the vehicle is not affected by external forces. As a result, the vehicle motion is stabilized. When the force for steering the front wheels is transmitted to the rear wheels to steer them, elimination of the reaction from the road to the actuator prevents undesirable variation in the force required to steer the vehicle or the force required to hold a steering angle. Elimination of reaction to the actuator can be accomplished by worm gears, screw threads and so on in which the lead angle is smaller than the friction angle.

Abstract translation: 公开了一种用于车辆前轮转向装置和后轮转向装置中用于转向后轮的致动器，其中可以施加到后轮的后轮的自对准扭矩和路面的不规则性等外力是 防止被传递到用于控制后轮的转向角的致动器。 因此，后轮的转向角仅由前轮和后轮转向装置的控制动作确定，车辆的运动不受外力的影响。 结果，车辆运动稳定。 当用于转向前轮的力被传递到后轮以转向时，消除从道路到致动器的反作用力可防止转向车辆所需的力或保持转向角所需的力的不期望的变化。 消除对致动器的反应可以通过蜗杆，螺纹等实现，其中导程角小于摩擦角。

公开(公告)号：US4705135A

公开(公告)日：1987-11-10

申请号：US822293

申请日：1986-01-24

Applicant: Yoshimichi Kawamoto ,  Yoshimi Furukawa ,  Tetsuro Hamada ,  Mitsuya Serizawa

Inventor： Yoshimichi Kawamoto ,  Yoshimi Furukawa ,  Tetsuro Hamada ,  Mitsuya Serizawa

IPC: B62D7/15 ,  B60K17/358

CPC classification number: B62D7/1545

Abstract: The front and rear wheel steering device of the present invention not only has a means for allowing the manual selection of a mathematical function which determines the steering angle ratio of the rear wheels relative to the front wheels from a plurality of mathematical functions but also has a means for limiting such a manual selection depending on the condition of the vehicle. Since manual selection of a mathematical function for the steering angle ratio may not be appropriate under certain vehicle conditions, the device of the present invention limits such a manual selection when the vehicle speed, the vehicle acceleration, the shift position of the transmission, the steering speed or the steering acceleration is greater than a certain value. Thereby, the convenience of the manual selection of the steering angle ratio is preserved yet any undesirable vehicle response from improper manual selection of the steering angle ratio is prevented.

Abstract translation: 本发明的前轮和后轮转向装置不仅具有允许手动选择从多个数学函数确定后轮相对于前轮的转向角比的数学函数的装置，而且还具有 用于根据车辆的状况限制这种手动选择的装置。 由于在某些车辆状态下手动选择转向角比的数学函数可能不合适，所以本发明的装置在车速，车辆加速度，变速器的换档位置，转向 转速或转向加速度大于一定值。 因此，保持手动选择转向角比的便利性，防止了由于不正确的手动选择转向角比而导致的不期望的车辆响应。

公开(公告)号：US4703945A

公开(公告)日：1987-11-03

申请号：US822008

申请日：1986-01-24

Applicant: Yoshimichi Kawamoto ,  Yoshimi Furukawa ,  Tetsuro Hamada ,  Mitsuya Serizawa

Inventor： Yoshimichi Kawamoto ,  Yoshimi Furukawa ,  Tetsuro Hamada ,  Mitsuya Serizawa

IPC: B62D7/15 ,  B62D5/06

CPC classification number: B62D7/1545

Abstract: An actuator for steering the rear wheels in front and rear steering device for a vehicle in which the steering angle of the rear wheels can be manually neutralized should the actuator fail with the rear wheels steered to a certain angle. The actuator may be a type which either directly steers the rear wheels following command from control means or varies the state of means for setting up the steering angle ratio of the rear wheels. In either case, a preferably detachable handle may be engaged to an output end of power means of the actuator. Thus, the situation in which the rear wheels are frozen at a certain steering angle and the driving of the vehicle becomes difficult is safely avoided.

Abstract translation: 如果在后轮转向一定角度的情况下，执行器将会在后轮的前后转向装置中转向后轮的致动器，其中后轮的转向角可以手动中和。 致动器可以是直接从控制装置引导的后轮的转向或改变用于设定后轮的转向角比的装置的状态。 在任一情况下，优选地可拆卸手柄可以接合到致动器的动力装置的输出端。 因此，安全地避免了后轮在一定的转向角度被冻结并且车辆的行驶变得困难的情况。