US 11,713,071 B2
Vehicle with four wheel steering system
Seiji Hidaka, Kariya (JP); and Shin Kunieda, Kariya (JP)
Assigned to AISIN CORPORATION, Aichi (JP)
Appl. No. 16/496,660
Filed by AISIN CORPORATION, Kariya (JP)
PCT Filed Sep. 1, 2017, PCT No. PCT/JP2017/031676
§ 371(c)(1), (2) Date Sep. 23, 2019,
PCT Pub. No. WO2018/173317, PCT Pub. Date Sep. 27, 2018.
Claims priority of application No. 2017-059025 (JP), filed on Mar. 24, 2017.
Prior Publication US 2020/0377150 A1, Dec. 3, 2020
Int. Cl. B62D 5/00 (2006.01); B62D 5/04 (2006.01); B62D 7/15 (2006.01); B62D 9/00 (2006.01); B62D 6/00 (2006.01); B62D 7/14 (2006.01); B62D 15/02 (2006.01)
CPC B62D 7/14 (2013.01) [B62D 5/0484 (2013.01); B62D 6/00 (2013.01); B62D 15/021 (2013.01)] 8 Claims
OG exemplary drawing
 
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.