Vehicle, and method for steering control of same

摘要

Maneuverability and stability of a suspension unit for a vehicle are improved. A vehicle includes: a steer-by-wire system detecting a displacement of a steering wheel and displacing a steering rack steering steerable wheels on a basis of a detection result of the displacement and a suspension unit suspending the steerable wheels, the suspension unit including: wheel hub mechanisms, each wheel hub mechanism supporting a tire wheel on which a tire is attached, and a plurality of link members supporting the wheel hub mechanisms on the vehicle body; and a kingpin axis passing through an upper pivot point of the link members and lower pivot point of the link members being set to pass through a road surface contact area of the tire at a neutral position of the steering wheel.

主权项

1. A vehicle comprising:
a steering control apparatus that actuates an actuator in accordance with a steered state of a steering wheel to steer steerable wheels; and a suspension unit including link members supporting the steerable wheels on a vehicle body, a kingpin axis of the suspension unit which passes through an upper pivot point of the link members of the suspension unit, a lower pivot point of the link members of the suspension unit, and within a road surface contact area of a tire when the steering wheel is placed at a neutral position, and the steering control apparatus including: a straightness securing section configured to secure a straightness of the vehicle; and a steering response characteristic setting section configured to adjust a start timing of a straightness securing control by the straightness securing section when a steering through the steering wheel is started from a neutral position of the steering wheel, the straightness securing section being constituted by a steer-by-wire system that detects a displacement of a steering angle when the steering wheel is steered and including a steering actuator steering the steerable wheels on a basis of a result of the detection and an actuator control apparatus that controls the steering actuator, wherein the steering control apparatus, when a steering through the steering wheel is started from a neutral position of the steering wheel, sets a high steering response characteristic according to a steering response characteristic that the suspension unit itself has in an initial stage steering state and sets a required steering response characteristic according to the straightness securing control by the straightness securing section in a steering state after the passage of the initial stage steering state.