Steering system
The present invention improves response characteristics in turning traveling of a vehicle while traveling stability at the time of turning is kept. The present invention provides a system in which toe angles of left and right rear wheels are controlled based on a steering angular velocity, not a steering angle of a steering. In a steering system in which toe angles of left and right rear wheels are controlled independently, a steering angular velocity is calculated from a steering angle, and toe angle changers are controlled to tilt the toe angle of the right rear wheel to the left when the steering angular velocity is on the left side, and is controlled to tilt the toe angle of the left rear wheel to the left when the steering angular velocity is on the right side.
1. In a steering system for controlling toe angles of left and right rear wheels independently, comprising:
an electric power steering device having an electric motor, which is configured to assist steering of left and right front wheels by a steering wheel;
toe angle changers configured to independently change toe angles of the rear wheels by respective actuators in accordance with a steering angle of the steering wheel and a vehicle speed;
a steering controller configured to control the electric power steering device and the toe angle changers;
a steering angle sensor; and
a vehicle speed sensor, wherein a steering angular velocity is calculated to indicate a direction to which the steering wheel is turned and to tilt the toe angle of the right rear wheel to the left when the steering wheel is determined to be turned left, and to tilt the toe angle of the left rear wheel to the right when the steering wheel is determined to be turned right.
2. The steering system according to claim 1 , wherein the toe angle is proportional to the steering angular velocity.
3. In the steering system of claim 1 for controlling toe angles of left and right rear wheels independently,
wherein a steering angular velocity is calculated to tilt the toe angle of only the right rear wheel to the left when the steering wheel is determined to be turned left, and to tilt the toe angle of only the left rear wheel to the right when the steering wheel is determined to be turned right.
4. The steering system according to claim 1 , wherein the steering wheel is determined to be turned left when the steering angular velocity is less than a first given value, and the steering wheel is determined to be turned right when the steering angular velocity is greater a second given value.