JP2014210481A - Steering device and vehicle using the steering device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a steering device that enables lateral movement, turning in a small radius, etc. without using a complex mechanism.SOLUTION: The steering device includes: rack cases 10, 20 connected between wheels W of at least a front wheel or rear wheel of a vehicle 1; rack bars 11, 21 that can steer right and left wheels W by movement in a horizontal direction relative to a direct advance direction of the vehicle 1; moving means 32 for moving the rack cases 10, 20 in a longitudinal direction or vertical direction; and an in-wheel motor M installed in the wheel W to which the rack bars 11, 21 are connected.

Description

  The present invention relates to a vehicle steering device and a vehicle using the steering device.

Ackerman-Jantou type is used to steer the wheels using a steering link mechanism that connects the left and right wheels (hereinafter collectively referred to as "wheels" including tires, wheels, hubs, in-wheel motors, etc.) There is a steering mechanism called. This steering mechanism uses a tie rod and a knuckle arm so that the left and right wheels have the same turning center when the vehicle turns.

  In addition, a steering link mechanism for left and right wheels using tie rods and knuckle arms is provided at least on either the front wheel side or the rear wheel side, and the length of the tie rods, the distance between the left and right tie rods, or each wheel and knuckle arm There is a steering mechanism provided with an actuator that changes any of the angles formed. According to this steering mechanism, all of normal traveling, parallel movement, and small traveling can be smoothly performed, and the response is excellent (see, for example, Patent Document 1).

  Further, the steering mechanism is arranged between the left and right wheels of the front and rear wheels, and includes a rack bar that is rotatable about an axis and divided into left and right, and a forward / reverse switching means between the two divided rack bars. There is. The forward / reverse switching means can transmit the rotation of one of the divided rack bars to the other in the forward / reverse direction. According to this steering mechanism, movements such as a steering angle of 90 degrees and lateral movement are possible (for example, see Patent Document 2).

  There is also a steering mechanism in which the toe adjustment of the left and right wheels is performed by moving a rack housing connecting the left and right wheels in the front-rear direction to improve running stability (see, for example, Patent Document 3).

Japanese Patent Laid-Open No. 04-262971 JP 2007-22159 A Japanese Patent Laid-Open No. 2003-127876

  According to a general Ackermann-Jantou-type steering link mechanism, during normal driving, a line extending vertically from the rotation line of each wheel (the center line in the width direction of the wheel) gathers at the turning center of the vehicle. Smooth running is possible. However, when the lateral movement of the vehicle (transverse movement in the lateral direction with the vehicle facing in the front-rear direction) is obtained, steering the wheel in a direction of 90 degrees with respect to the front-rear direction is a problem with the length of the steering link. It is difficult to interfere with other members. Further, even if one of the left and right wheels is steered at 90 degrees, the other wheel is not completely parallel to one wheel, and smooth operation is difficult.

  On the other hand, in Patent Document 1, it is possible to move the vehicle in the lateral direction, turn around, and the like. However, since an actuator for changing the length of the tie rod, the distance between the left and right tie rods, or the angle formed by the wheel and the knuckle arm is provided, the number of actuators is large and the control is complicated. Furthermore, Patent Document 2 not only has a complicated structure due to its mechanism, but also uses a large number of gears to steer the wheels by the rotation of the rack bar. For this reason, rattling is likely to occur, and it is difficult to smoothly steer the wheels. Further, although Patent Document 3 can adjust toe, it cannot cope with a lateral movement or a small turn of the vehicle.

  Accordingly, an object of the present invention is to enable lateral movement, small turning, and the like without using a complicated mechanism.

  In order to solve the above-described problems, in the steering device of the present invention, a rack bar that penetrates through the inside of the rack case is connected to at least the left and right wheels of the front wheel or the rear wheel via a tie rod, The left and right wheels can be steered by movement in the left-right direction, and includes a front-rear moving means for moving the rack case in the front-rear direction, and an in-wheel motor is attached to the wheel to which the rack bar is connected via a tie rod. The equipped steering device was adopted.

  Moreover, it may replace with the said back-and-forth moving means, and may be provided with the up-and-down moving means which moves the said rack case to an up-down direction. That is, a rack bar is connected to at least the left and right wheels of the front wheel or the rear wheel, and the rack bar can steer the left and right wheels by movement in the left and right direction with respect to the straight traveling direction of the vehicle. It is the structure which provided the up-and-down moving means moved to a direction, and provided the in-wheel motor in the wheel to which the said rack bar was connected. Furthermore, you may provide both the said back-and-forth moving means and the said up-and-down moving means.

  As means for moving the rack case in the front-rear direction and the up-down direction, for example, a rack is provided along the movement direction on the vehicle body side, a pinion that meshes with the rack is provided on the rack case side, and the driving force of the motor (movement motor) is used. By rotating the pinion, the rack case can be moved along the rack and stopped at an arbitrary position. Alternatively, it is possible to adopt a configuration in which a rack case can be moved along the rack by pressing or pulling and stopped at an arbitrary position by a separately provided actuator (movement actuator).

  Note that a steering mechanism using a rack and pinion mechanism or the like can be adopted for the steering of the left and right wheels by the rack bar penetrating the inside of the rack case, as in the conventional example. For example, based on information from a sensor that detects the steering angle of the steering wheel of the driver's seat, the computer (engine control unit (ECU), etc.) outputs the amount of movement of the rack bar in the left-right direction and commands the operation. The left and right wheels can be steered. In this case, the rotation by the driving force of the motor (steering motor) can be transmitted to the rack bar provided in the steering mechanism that connects the left and right wheels via the rack and pinion mechanism. Alternatively, the driving force of a separately provided actuator (steering actuator) can be transmitted to the rack bar. Thereby, the structure which can move the rack bar in a rack case to the left-right direction, and can stop at arbitrary positions is employable.

  The steering device having any one of these configurations can be a vehicle applied to either the front wheels or the rear wheels, and can be a vehicle applied to both the front wheels and the rear wheels.

In each of these configurations, normal wheels can be steered by the movement of the rack bar in the left-right direction, and the rack case can be moved in the front-rear direction and the up-down direction to move the vehicle laterally and turn slightly. Rotation on the spot is possible, and various effects such as improvement in running stability can be exhibited.
The reason why such a function can be exhibited is that an in-wheel motor is provided on a wheel to which a rack case that can move back and forth or up and down is connected. Drive systems other than in-wheel motors, that is, drive force transmission systems (constant velocity joints) from engines and motors arranged in the hood as in the past, have a limited operating angle (usually 50 degrees (50 degrees) or less). , Steering beyond 50 degrees is impossible. By providing the in-wheel motor, it is possible to realize a running pattern that cannot be achieved by a conventional mechanism such as Patent Document 3.

  A description will be given of several travel modes when the steering device having these configurations is mounted on a vehicle.

  In the present invention, in the normal driving mode, it operates without a sense of incongruity with the conventional steering operation, and various driving modes such as in-situ rotation, lateral movement, and small turn are also possible. As a result, it is possible to perform lateral movement, small turn, etc. at low cost without using a complicated mechanism.

(Normal driving mode)
The left and right wheels are simultaneously steered right or left at a predetermined angle by movement in the left-right direction by the rack bar. Specifically, the left and right wheels can be steered in the left and right direction by moving the rack bar arranged in the rack case in either the left or right direction with respect to the straight traveling direction. The rack bar can be moved left and right by a normal steering actuator or a steering operation shaft connected to a steering wheel (handle) if it is a front wheel.

  At this time, if the rack case is provided with moving means in the front-rear direction or moving means in the up-down direction, the rack case is fixed so as not to move in the up-down direction and in the front-rear direction. For example, when using a moving actuator as the moving means in the front-rear direction and the moving means in the up-down direction, the movement of the moving actuator should be locked or fixed by a separate restraining mechanism. Thus, traveling equivalent to that of a normal vehicle (forward traveling or the like) becomes possible.

(In-situ rotation mode)
The in-situ rotation mode is a travel mode that is possible when the present steering device is attached to the front and rear wheels, respectively. The rack case attached to the front and rear wheels moves in the front-rear direction or the up-down direction to steer the wheels to a predetermined angle that can be turned on the spot.
The rack case can be moved in the front-rear direction or the up-down direction, for example, by following the rotation of the wheel by the aforementioned moving actuator or in-wheel motor.

  In the in-situ rotation mode, the extension line of the center line (axle center line) of all the wheels faces the vehicle center side in plan view. For this reason, it is also possible to rotate the vehicle 360 degrees on the spot without moving the vehicle center by turning. At this time, the movement of the moving actuator is locked, or the rack case is fixed by a restraining mechanism provided separately, thereby enabling a more stable turning movement. Further, a method of fixing the movement of the rack case in the front-rear direction and the up-down direction with a steering actuator used for normal steering or a steering operation shaft connected to a steering wheel in the case of a front wheel is also conceivable.

(Lateral movement mode)
The lateral movement mode is a travel mode that is possible when the present steering device is attached to the front and rear wheels, respectively. In the lateral movement mode, the vehicle moves in the lateral direction with the vehicle facing in the front-rear direction, that is, moves laterally.
Here, the rack case attached to the front and rear wheels moves in the front-rear direction or the vertical direction, thereby turning the wheel up to 90 degrees with respect to the straight traveling direction. The rack case can be moved in the front-rear direction or the up-down direction, for example, by following the rotation of the wheel by the aforementioned moving actuator or in-wheel motor.

In the lateral movement mode, all wheels are parallel to the same direction and the same angle with respect to the straight traveling direction of the vehicle. That is, the center line of all the wheels (axle center line) forms a certain angle with respect to the longitudinal direction of the vehicle, and the center lines of all the wheels are parallel.
At this time, the movement of the moving actuator is locked or the rack case is fixed by a restraining mechanism provided separately, so that more stable movement of the vehicle is possible. The same is true in that it is possible to fix the movement of the rack case in the front-rear direction and the up-down direction with a steering actuator used for normal turning, or a steering operation shaft connected to the steering if it is a front wheel. .

  Further, as a fine adjustment function, the tire angle can be finely adjusted by a slight movement in the left-right direction with respect to the straight traveling direction of the vehicle by the rack case. This slight movement is possible by moving the rack bar arranged in the rack case in a predetermined direction by the operation of a normally used steering actuator.

(Turn mode)
The small turning mode is a mode in which the rear wheels and the front wheels are steered in opposite phases, and can be rotated with a smaller diameter than when only two wheels are steered. In the small turning mode, the front wheels are steered to a predetermined angle and the rear wheels are steered in the opposite phase to the front wheels by the movement of the rack bars respectively attached to the front and rear wheels. Specifically, the rack bar arranged in the rack case can be steered in the corresponding direction by moving the left and right wheels of the front wheels and the left and right wheels of the rear wheels by moving in either the left or right direction with respect to the straight direction. it can. The rack bar can be moved left and right by a steering actuator used in the normal traveling mode, or by a steering operation shaft connected to the steering if it is a front wheel. In the small turning mode, the mode is switched depending on the vehicle speed. For example, by controlling so as not to be in the small turning mode at a speed of 20 km / h or more, safe traveling is ensured.

(High speed mode)
During high-speed traveling, the toe adjustment can be performed by moving the rack case attached to the rear wheel in the front-rear direction or the up-down direction with respect to the straight direction by the front-rear movement actuator. In general, when the vehicle is traveling at high speed, the vehicle body can travel stably by using toe-in. In the high-speed mode, mode switching is performed according to the vehicle speed, and for example, safe driving is ensured by performing control so as to be effective only at speeds of 80 km / h or higher.

  By providing an in-wheel motor on the wheel connected to a rack case that can be moved back and forth or up and down, in normal driving mode, it operates without discomfort with conventional steering operation, in-situ rotation, lateral movement, small turn, etc. Various driving modes may also be possible. Further, the cost can be reduced without using a complicated mechanism or control.

  An embodiment of the present invention will be described with reference to FIGS. In each embodiment, the in-wheel motor M is mounted in the wheel of the driving wheel of the vehicle 1 either in the front-rear direction, the left-right direction, or in all the wheels W. By providing the in-wheel motor M, various travel patterns are possible.

  FIG. 1 shows an image diagram of a vehicle 1 using the steering device of this embodiment. It shows a two-seater (side-by-side two-seat) vehicle body with ultra-compact mobility. However, the present invention is not limited to ultra-compact mobility and can also be applied to ordinary vehicles.

(First embodiment)
FIG. 2 is a schematic plan view showing a drive system and a control path of the vehicle 1 of the first embodiment. In this embodiment, the front wheel has a normal steering device in which the rack case does not move back and forth and up and down, and the rear wheel has the steering device of the present invention in which the rack case is movable back and forth and up and down. Adopted.

  In a steering device for a front wheel that is a driven wheel, a rack bar 11 that connects the left and right wheels W (FL, FR) is accommodated in a rack case (steering box) 10. Both ends of the rack bar 11 are connected to the wheels W via tie rods 12, respectively. Various members such as a knuckle arm are appropriately interposed between the tie rod 12 and the wheel W.

  In the steering device for the rear wheels, which are drive wheels, a rack bar 21 connecting the left and right wheels W (RL, RR) is divided into two in the middle, and the divided rack bar 21 is a rack case (steering box) 20. Is housed inside. Both ends of the rack bar 21 are connected to the wheels W via tie rods 22, respectively. The same is true in that various members such as a knuckle arm may be appropriately interposed between the tie rod 22 and the wheel W.

  The front wheel rack case 10 has a steering actuator 31 or a steering operation shaft connected to the steering wheel 2 if it is a front wheel. The rear wheel rack case 20 has a steering actuator 31 and a moving actuator. An actuator 32 is provided.

  In the front wheel rack bar 11, an engine control unit 40 (hereinafter referred to as an ECU 40) moves in the left-right direction of the rack bar 11 based on information from the sensor 41 that detects the steering angle of the steering 2 of the driver's seat or the steering torque. Calculates and outputs the required amount of movement or operating force. Based on the output, the actuator driver 30 instructs the front wheel steering actuator 31 to steer the left and right wheels W in the required direction. The sensor 41 is provided on the operation shaft 3 that rotates about the axis as the steering 2 rotates.

  The front wheel steering device is not limited to the steer-by-wire system in which the steering operation performed by the driver is replaced with an electric signal and steered. For example, a general mechanism using a mechanical link (such as a rack and pinion mechanism) is used. A simple steering device can also be employed. In this case, the function of the steering actuator 31 assists by calculating a torque necessary for the movement of the rack bar 11 in the left-right direction by a steering operated by the driver, or a motor connected to the steering operation shaft.

  Further, in the rear wheel rack bar 21, the ECU 40 requires the rack bar 21 to move in the left-right direction based on information from the sensor 41, input from the mode switching means 42, or determination of the running state by the ECU 40 itself. Calculate and output the quantity. Based on the output, the actuator driver 30 commands the rear-wheel steering actuator 31 to steer the left and right wheels W in a necessary direction by a necessary angle. Similarly, the ECU 40 outputs a necessary amount of movement of the rack case 20 in the front-rear direction and the up-down direction. Based on the output, the actuator driver 30 instructs the rear-wheel movement actuator 32 to The required amount of the rack case 20 is moved.

  In normal traveling, the driver can operate the steering 2 to go straight through the front wheel steering device, turn right, turn left, and so on according to each scene.

  For example, when the ECU 40 recognizes that the vehicle 1 is traveling at a high speed, the actuator driver 30 instructs the rear wheel moving actuator 32 to move the rack case 20 backward based on the output of the ECU 40. As a result, the left and right wheels RL, RR of the rear wheels are in a state where the front side is slightly closed (toe-in state) relative to the parallel state, and stable high-speed traveling is possible.

  This toe adjustment may be automatically performed based on the determination of the traveling state such as the vehicle speed and the load applied to the axle by the ECU 40, or may be performed based on the input from the mode switching means 42 provided in the cab. You may be made to be. The mode switching means 42 can switch the driving mode by operating the switches by the driver.

  FIG. 3 shows that in the vehicle 1 of the first embodiment, the rear wheels are steered in the same direction as the front wheel steering direction by the steering actuator 31 (in the figure, both the front and rear wheels are steered to the right). Therefore, it is possible to run diagonally for the purpose of avoiding danger. In the oblique running, the vehicle can be moved in the lateral direction (parallel movement) such as a lane change while the vehicle is directed in the front-rear direction or hardly changed in direction. This operation makes it possible to avoid danger from obstacles ahead.

  Here, as the moving actuator 32, for example, an actuator constituted by a linear motion mechanism such as a motor, a gear, and a ball screw can be employed. By this moving actuator 32, the rack case 20 can be moved in the front-rear direction or the vertical direction with respect to the vehicle body.

  In this embodiment, the movement actuator 32 serves as both the vertical movement means and the front-rear movement means of the rack case 20, but the vertical movement means and the front-back movement means may be provided separately. Further, if necessary, either one of the vertically moving means and the forward / backward moving means may be provided, and the other may be omitted. This is the same for the corresponding rack cases 10 and 20 in each embodiment described later.

  Further, as the steering actuator 31, one constituted by a linear motion mechanism such as a rack and pinion, a motor, a worm gear and the like can be adopted. By this steering actuator 31, the rack bar 21 in the rack case 20 can be moved in the left-right direction with respect to the vehicle body.

  Similarly, FIG. 4 shows that in the vehicle 1 of the first embodiment, the left and right wheels RL and RR of the rear wheels are steered in opposite phases by largely moving the rack case 20 of the rear wheels forward by the moving actuator 32. doing. The left and right wheels RL and RR of the rear wheels are in a state where the rear side is largely closed in a plan view.

  If the in-wheel motor M for the rear wheels is driven in this state, the vehicle 1 can make a small turn around the intersection of the respective wheel center lines (axle center lines) of the rear wheels. Here, since the intersection of the respective wheel center lines of the rear wheels is set at the center of the left and right wheels FL, FR of the front wheels, the small turning is smooth.

(Second embodiment)
FIG. 5 shows a second embodiment. In this embodiment, a steering device according to the present invention in which the rack case 10 is movable back and forth and up and down is used for the front wheels as drive wheels, and the rear wheels are not provided with a steering device. The left and right wheels RL and RR of the rear wheels that are driven wheels are connected by an axle 23.

  In the rack bar 11 of the front wheel, the ECU 40 calculates and outputs a necessary amount of operation of the rack bar 11 in the left-right direction based on information from the sensor 41. Based on the output, the actuator driver 30 commands the front-wheel steering actuator 31 to steer the left and right wheels W in the necessary direction by a necessary angle.

  Further, in the rack case 10 of the front wheel, the ECU 40 needs to move in the front-rear direction and the vertical direction of the rack case 10 based on information from the sensor 41, input from the mode switching means 42, or judgment of the running state by the ECU 40 itself. The actuator driver 30 moves the rack case 10 of the front wheel by a necessary amount based on the output.

  The steering device for the front wheels is not limited to the steer-by-wire system, and a general steering device using a mechanical link (such as a rack and pinion mechanism) can be employed. In this case, the function of the steering actuator 31 is exhibited by the steering operated by the driver or the motor connected to the operation shaft of the steering.

  FIG. 6 shows the vehicle 1 according to the second embodiment, in which the front and right wheels are steered in opposite phases by largely moving the rack case 10 of the front wheels rearward by the moving actuator 32. The left and right wheels FL and FR of the front wheels are in a state where the front side is largely closed in a plan view.

  If the in-wheel motor M of the front wheel is driven in this state, the vehicle 1 can make a small turn around the intersection of the wheel center lines (axle center lines) of the front wheels. Here, since the intersection of the wheel center lines of the front wheels is set at the center between the left and right wheels RL and RR of the rear wheels, the small turning is smooth.

(Third embodiment)
FIG. 7 shows a third embodiment. In this embodiment, the front wheels and the rear wheels are drive wheels, and the steering device of the present invention is employed in which the rack cases 10 and 20 are movable forward and backward and vertically, respectively. The configuration of the steering device for the front wheels is the same as that of the second embodiment, and the configuration of the steering device for the rear wheels is the same as that of the first embodiment.

  FIG. 8 shows a vehicle 1 according to the third embodiment, in which the front wheels and the rear wheels are steered in opposite phases by the respective steering actuators 31, and in this state, the driving force of the in-wheel motor M included in each of the four wheels. Indicates a state in which a small turn is possible. The control method of the steering actuator 31 and the movement actuator 32 is the same as that of the above-mentioned embodiment.

  Similarly, FIG. 9 shows a state in which the vehicle 1 according to the third embodiment turns the front wheels and the rear wheels in the same phase to enable oblique traveling. In this travel mode, the stability of the vehicle body can be ensured during unstable travel such as when avoiding danger.

  FIG. 10 shows a vehicle 1 according to a third embodiment in which the front rack case 10 is largely moved backward by the moving actuator 32 and the rear rack case 20 is moved by the moving actuator 32 (the amount of movement of the front wheel). This shows a state in which the rack case 20 has moved forward by the same distance as the movement amount of the rack case 20 from the steady position to the rear.

  In this state, in-situ rotation with the center of the vehicle as the turning center can be performed by the driving force of the in-wheel motor M included in each of the four wheels. At this time, it is not always necessary to drive all the in-wheel motors M, and some in-wheel motors M may be driven as necessary.

  Similarly, FIG. 11 shows a vehicle 1 according to the third embodiment in which the front wheel rack case 10 is further moved backward by the moving actuator 32 and the rear wheel rack case is moved by the front wheel front / rear moving actuator ( This shows a state where the front wheel rack case 20 has moved forward by the same distance as the amount of rearward movement of the rack case 20 from the steady position.

  Thus, all the steering angles of the wheels are set to 90 degrees (90 degrees with respect to the straight traveling direction), and in this state, the lateral movement (parallel movement) is performed by the driving force of each in-wheel motor M included in each of the four wheels. It becomes possible. Also in this case, it is not always necessary that all in-wheel motors M are driven, and some in-wheel motors M may be driven as necessary, but at least one of the left and right front wheels, and It is desirable that either the left or right side of the rear wheel is driven.

(Fourth embodiment)
FIG. 12 shows a fourth embodiment. In this embodiment, as in the first embodiment, the front wheel is provided with a normal steering device in which the rack case 10 does not move back and forth and up and down, and the rack case 20 is movable back and forth and up and down on the rear wheel. A certain steering device of the present invention is employed.

  Further, in this embodiment, in a straight traveling state, the rear wheel steering device (rack bar 21, rack case 20, etc.) has a connection point between the wheel W and the tie rod 12 (when a knuckle arm is used, the knuckle arm and tie rod 12 It is located behind the connection point). By arranging in this way, there is an advantage that the interior space can be widened.

  As a modified example of this embodiment, if the steering device is mounted on the front wheel, it is opposite to the case of the rear wheel, and the steering device is positioned ahead of the coupling point between the wheel W and the tie rod 12. It will be.

  FIG. 13 shows the vehicle 1 of the fourth embodiment in which the rear wheel rack case 20 is moved forward by the moving actuator 32 to steer the left and right wheels RL and RR to opposite phases. Yes. If the in-wheel motor M is driven in this state, the vehicle 1 can make a small turn around the intersection of the respective wheel center lines (axle center lines) of the rear wheels. Here, since the intersection of the respective wheel center lines of the rear wheels is set at the center of the left and right wheels FL, FR of the front wheels, the small turning is smooth.

  FIG. 14 similarly shows a state in which the vehicle 1 of the fourth embodiment is capable of making a small turn by turning the rear wheels in the opposite phase with respect to the front wheels.

The image figure of the vehicle 1 using the steering device of this embodiment The top view which shows 1st embodiment of this invention FIG. 2 is a plan view showing a lateral movement (parallel movement) mode. FIG. 2 is a plan view showing the small turn mode The top view which shows 2nd embodiment of this invention FIG. 5 is a plan view showing the small turn mode The top view which shows 3rd embodiment of this invention FIG. 7 is a plan view showing the small turn mode. FIG. 7 is a plan view showing a lateral movement (parallel movement) mode. FIG. 7 is a plan view showing the in-situ rotation mode. FIG. 7 is a plan view showing a lateral movement (parallel movement) mode. The top view which shows 4th embodiment of this invention FIG. 12 is a plan view showing the small turn mode FIG. 12 is a plan view showing the small turn mode

DESCRIPTION OF SYMBOLS 1 Vehicle 2 Steering 3 Operation shaft 10, 20 Rack case 11, 21 Rack bar 12, 22 Tie rod 30 Actuator driver 31 Steering actuator 32 Moving actuator 40 Engine control unit (ECU)
41 Sensor 42 Mode switching means W Wheel

Claims (3)

  A rack bar penetrating the inside of the rack case is connected to at least the left and right wheels of the front wheel or the rear wheel via a tie rod, and the rack bar can steer the left and right wheels by movement in the left and right direction with respect to the straight traveling direction of the vehicle. And a steering device comprising an in-wheel motor on a wheel to which the rack bar is connected via a tie rod.   A rack bar penetrating the inside of the rack case is connected to at least the left and right wheels of the front wheel or the rear wheel via a tie rod, and the rack bar can steer the left and right wheels by movement in the left and right direction with respect to the straight traveling direction of the vehicle. A steering apparatus comprising an up-and-down moving means for moving the rack case in the up-and-down direction, and an in-wheel motor provided on a wheel to which the rack bar is connected via a tie rod.   The steering apparatus according to claim 1, further comprising an up-and-down moving means for moving the rack case in the up-and-down direction.

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