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公开(公告)号：EP3712038A1
公开(公告)日：2020-09-23
申请号：EP20163586.9
申请日：2020-03-17
IPC分类号： B62D6/00
摘要： In a controller (1) for a steering device (2), the steering device (2) includes a structure where motive power transmission between a steering unit (3) and a turning unit (5) is separated. The controller (1) includes a control circuit (61) configured to control operation of a steering-side motor (14) that is provided in the steering unit (3) to give steering reaction force that is force against the steering input into the steering unit (3). In a case where turning of the turning wheels (4) to one direction is restricted, the control circuit (61) is configured to calculate restriction reaction force for restricting steering that is to turn the turning wheels (4) to the one direction. The control circuit is configured to calculate the restriction reaction force based on information on the steering unit.
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公开(公告)号：EP3712036A1
公开(公告)日：2020-09-23
申请号：EP20163587.7
申请日：2020-03-17
发明人： NAMIKAWA, Isao , ANRAKU, Koji , KAKIMOTO, Yusuke , KUDO, Yoshio
摘要： A steering device (10) includes: a mechanism configured to turn turning wheels (16) of a vehicle; a motor configured to generate drive force that is applied to the mechanism; and a controller (50) configured to control the motor in accordance with a steering state. The controller (50) includes a determination circuit (85) configured to determine whether or not one of the turning wheels (16) is in contact with an obstacle based on at least a value of electric current that is supplied to the motor and a vehicle speed. The controller (50) is configured to, when one of the turning wheels (16) is in contact with the obstacle, notify a driver that one of the turning wheels (16) is in contact with the obstacle.
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公开(公告)号：EP4074579A1
公开(公告)日：2022-10-19
申请号：EP22164694.6
申请日：2022-03-28
发明人： YAJIMA, Amane , KUDO, Yoshio , ANRAKU, Koji , NAMIKAWA, Isao , YOSHIDA, Kenji
IPC分类号： B62D6/00
摘要： In a reaction torque calculation process, an electronic control unit (34) included in a steer-by-wire steering device (10) is configured to calculate a distributed axial force (T3) obtained by distributing an angle axial force (T1) and an electric current axial force (T2) based on a final distribution ratio (Rf). The reaction torque calculation process includes at least one of a first abnormal-time process and a second abnormal-time process. The first abnormal-time process is executed to hold, for calculation of the angle axial force (T1), a vehicle speed signal value (Vh) immediately before the vehicle speed signal (V) becomes abnormal. The second abnormal-time process is executed to hold, for calculation of a normal-time distribution ratio (Rn), a vehicle speed signal value (Vh) immediately before the vehicle speed signal (V) becomes abnormal or hold a value (Rnh) of the normal-time distribution ratio (Rn) immediately before the vehicle speed signal (V) becomes abnormal, and then gradually change the final distribution ratio (Rf) to an abnormal-time distribution ratio (Ra).
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公开(公告)号：EP3702244A1
公开(公告)日：2020-09-02
申请号：EP20159043.7
申请日：2020-02-24
发明人： ANRAKU, Koji , NAMIKAWA, Isao , KAKIMOTO, Yusuke , KUDO, Yoshio
摘要： A steering control device includes an electronic control unit (1). The electronic control unit controls operation of a steering-side motor (14) so as to apply a steering reaction force that resists a steering operation input to the steering wheel (11). The electronic control unit computes an obstruction strike reaction force for regulating a steering operation that steers a steered wheel toward an obstruction. The electronic control unit generates determination information indicating that the steered wheel is struck by an obstruction. The determination information includes first determination information indicating that the left side of the steered wheel is struck by an obstruction, and second determination information indicating that the right side of the steered wheel is struck by an obstruction. The electronic control unit sets a direction in which the obstruction strike reaction force is applied based on the generated determination information.
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公开(公告)号：EP4112422A1
公开(公告)日：2023-01-04
申请号：EP22174644.9
申请日：2022-05-20
发明人： AKATSUKA, Kosuke , KUDO, Yoshio , ANRAKU, Koji
摘要： A vehicle control system (10) controls a vehicle (1) of a steer-by-wire type. The vehicle control system (10) is configured to execute: driving assist control that assists driving of the vehicle (1); and conjunction reaction force control that applies a steering reaction force component to a steering wheel (3) in conjunction with turning of the vehicle (1) caused by the driving assist control. A driving assist direction (Da) is a direction of the turning of the vehicle (1) caused by the driving assist control. The conjunction reaction force control includes feedforward reaction force control that moves the steering wheel (3) in a same direction as the driving assist direction (Da) without depending on a steering angle (θs) of the steering wheel (3).
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公开(公告)号：EP3702245A1
公开(公告)日：2020-09-02
申请号：EP20159061.9
申请日：2020-02-24
发明人： NAMIKAWA, Isao , ANRAKU, Koji , KAKIMOTO, Yusuke , KUDO, Yoshio
摘要： A steering system (10) includes a mechanism configured to turn a steer wheel (16) of a vehicle, a motor configured to generate driving force that is applied to the mechanism, and a controller configured to control the motor according to a steering status. The controller (50) includes a limiting control circuit (62) configured to limit a current that is supplied to the motor to a limiting value, a determining circuit (85) configured to determine whether the steer wheel (16) is in contact with an obstacle by using at least a comparison between a value of the current that is supplied to the motor and a threshold, and a threshold computing circuit (89) configured to compute the threshold that is used by the determining circuit (85), the threshold computing circuit (89) being configured to compute a value less than the limiting value according to the limiting value as the threshold.
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公开(公告)号：EP4385856A1
公开(公告)日：2024-06-19
申请号：EP23207963.2
申请日：2023-11-06
IPC分类号： B62D6/00
CPC分类号： B62D6/008
摘要： A steering control device (1) includes a processor configured to execute a reaction force control process. The reaction force control process includes a reaction force torque calculation process of calculating a reaction force torque operation amount. The reaction force torque calculation process includes a deviation compensation calculation process of calculating a deviation-compensating component. The deviation compensation calculation process includes a process of calculating a positional deviation, a process of calculating the deviation-compensating component based on the positional deviation, and a process of switching among a plurality of calculation states for calculating the deviation-compensating component. The process of switching among the calculation states is a process of permitting switching among the calculation states on the condition that a permission condition is met. The permission condition is met based on an operation amount that varies in association with a driver's operation of an operation member.
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公开(公告)号：EP4124545A1
公开(公告)日：2023-02-01
申请号：EP22187193.2
申请日：2022-07-27
发明人： MATSUDA, Satoshi , NAMIKAWA, Isao , ANRAKU, Koji , IIDA, Tomoyuki , YAMASHITA, Masaharu , SHIBATA, Kenji
摘要： A steering control device (50) includes a base axial force calculator (81), a limiting axial force calculator (82), and a final axial force calculator (83). The limiting axial force calculator (82) includes a steering angle holder (91), a reference angle calculator (93), a final difference calculator (94), and an axial force calculator (95). The steering angle holder (91) is configured to hold a steering angle at the time of limiting a turning operation of the turning wheels (16) when the turning operation is limited. The reference angle calculator (93) is configured to calculate a reference angle. The final difference calculator (94) is configured to calculate a final difference which is a final difference between the reference angle and the current steering angle. The axial force calculator (95) is configured to calculate a limiting axial force based on a value of the final difference.
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公开(公告)号：EP4074580A1
公开(公告)日：2022-10-19
申请号：EP22165518.6
申请日：2022-03-30
发明人： AKATSUKA, Kosuke , KUDO, Yoshio , NAMIKAWA, Isao , KODERA, Takashi , ANRAKU, Koji , MIYAKE, Junya
摘要： A vehicle control system (10) controls a steer-by-wire type vehicle (1). The vehicle control system (10) executes: reaction force control that applies a steering reaction force to a steering wheel (3); and driving assist control that assists driving of the vehicle (1). The reaction force control includes road information transmission control that applies a steering reaction force component corresponding to an oscillation caused by road surface unevenness to the steering wheel (3). The vehicle control system (10) deactivates the road information transmission control when a deactivation condition is satisfied. The deactivation condition is that the driving assist control is in operation and a steering parameter reflecting a driver's steering intention is less than a threshold (Tth _RI). As another example, the deactivation condition is that the driving assist control that vibrates the steering wheel (3) for notifying the driver of a possibility of a lane departure is in operation.
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公开(公告)号：EP3744613A1
公开(公告)日：2020-12-02
申请号：EP20173194.0
申请日：2020-05-06
申请人： JTEKT CORPORATION
发明人： NAMIKAWA, Isao , ANRAKU, Koji
摘要： A control device (50) is configured to control a reaction motor based on a command value that is computed depending on a steering state. The control device (50) includes a first computation circuit (81) configured to compute a first shaft force, a second computation circuit (82) configured to compute a second shaft force, and a third computation circuit configured to set a limit value that limits a variation range of the first shaft. The third computation circuit is configured to compute a final shaft force using the set limit value, through execution of a limiting process by which the first shaft force is limited, the final shaft force being reflected in the command value.
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