Vehicle with four wheel steering system
A vehicle includes first and second steering drivers that steer first and second wheel pairs, a lock that locks the first wheel pair to be non-steerable, a first steering controller that controls the first steering driver in accordance with a first steering angle, and a second steering controller that controls the second steering driver in accordance with a second steering angle. The first steering controller controls the lock to lock the steering of the first wheel pair upon detecting anomaly in the steering of the first wheel pair from the steering angle and a steering detection angle of the first wheel pair. The second steering controller controls the second steering driver in accordance with a second corrected steering angle, if the steering of the first wheel pair exhibits anomaly.
1. A vehicle comprising:
a first steering driver configured to steer a first wheel pair;
a second steering driver configured to steer a second wheel pair;
a steering configured to receive an instruction steering angle;
a first steering controller configured to acquire information on the instruction steering angle of the steering and set a first steering angle based on the instruction steering angle to control the first steering driver in accordance with the first steering angle;
a second steering controller configured to acquire the information on the instruction steering angle and set a second steering angle based on the instruction steering angle to control the second steering driver in accordance with the second steering angle;
a lock configured to receive an instruction from the first steering controller to lock the first wheel pair so as to be in a non-steerable locked state; and
a detector configured to detect a steering detection angle serving as a steering angle of the first wheel pair, including, when the first wheel pair is locked by the lock in the non-steerable locked state, a locked steering detection angle serving as the steering angle at which the first wheel pair is locked by the lock in the non-steerable locked state; wherein
upon detection of abnormal steering of the first wheel pair based on a determination that a difference between the instruction steering angle and the steering detection angle exceeds a predetermined threshold, and without thereafter changing the first steering angle, the first steering controller controls the lock to lock the first wheel pair so as to be in the non-steerable locked state, and
while the first wheel pair is in the non-steerable locked state based on the detection of the abnormal steering of the first wheel pair, the second steering controller receives the locked steering detection angle from the detector and corrects the second steering angle to a second corrected steering angle according to the locked steering detection angle received from the detector, and controls the second steering driver in accordance with the second corrected steering angle.
2. The vehicle according to claim 1 , wherein
the first steering controller sets the first steering angle on the basis of first steering-angle information to control the first steering driver, the first steering-angle information serving as information on the first steering angle set in advance, and
the second steering controller sets the second steering angle on the basis of second steering-angle information to control the second steering driver, the second steering-angle information serving as information on the second steering angle set in advance and differing from the first steering-angle information.
3. The vehicle according to claim 1 , wherein
the first steering controller sets the first steering angle on the basis of first steering-angle information to control the first steering driver, the first steering-angle information serving as information on the first steering angle set in advance, and
the second steering controller sets the second steering angle on the basis of the first steering-angle information and a gain of one or less, to control the second steering driver.
4. The vehicle according to claim 2 , wherein
the first wheel steering controller sets the first steering angle on the basis of the first steering-angle information, to control the first steering driver, the first steering-angle information being associated with a speed of the vehicle.
5. The vehicle according to claim 1 , wherein
the first wheel pair is a front wheel pair,
the second wheel pair is a rear wheel pair,
the first steering driver is steerable of the first wheel pair up to a first maximum steering angle, and
the second steering driver is steerable of the second wheel pair up to a second maximum steering angle, the second maximum steering angle being equal to or larger than a half of the first maximum steering angle.
6. The vehicle according to claim 1 , wherein
the first wheel pair is a front wheel pair,
the second wheel pair is a rear wheel pair, and
the second steering controller varies a rate of change in the second steering angle relative to the steering angle in accordance with a degree of the first steering angle.
7. The vehicle according to claim 6 , wherein
the second steering controller varies the rate of change in the second steering angle depending on whether the first steering angle is equal to or larger than a maximum steering angle of the first steering driver.
8. The vehicle according to claim 1 , wherein
the first steering driver sets the first steering angle within a limit of a half or less of a first maximum steering angle, to steer the first wheel pair, the first maximum steering angle serving as a maximum steering angle at which the first wheel pair is steerable, and
the second steering driver steers the second wheel pair at the second steering angle of the same degree as the first steering angle.