公开(公告)号：JP2005306313A

公开(公告)日：2005-11-04

申请号：JP2004129169

申请日：2004-04-26

Applicant: Aisin Seiki Co Ltd ,  Toyota Motor Corp ,  アイシン精機株式会社 ,  トヨタ自動車株式会社

Inventor： GOTO TAKESHI ,  KUROSAWA RYUICHI ,  TOUTSU KENJI

IPC: B62D6/00 ,  B62D5/04 ,  B62D101/00 ,  B62D111/00 ,  B62D113/00 ,  B62D119/00 ,  B62D137/00

Abstract: PROBLEM TO BE SOLVED: To facilitate driving of a vehicle and prevent vibration of a steering wheel generated at a neutral position by steering the vehicle in response of human perceptual characteristic. SOLUTION: A displacement-torque conversion part 51 converts a steering angle θ to a steering torque Td in a steering device of a steering-by-wire system. In this time, the steering torque Td is calculated according to a linear function in the case of less than a predetermined steering angle θz and calculated according to an exponential function in the case of not less than the steering angle θz. A torque-lateral acceleration conversion part 52 converts the steering torque Td to the lateral acceleration Gd which is an exponential relationship and perceivable by a human. A turning angle conversion part 53 calculates a target turned angle δd required so that the vehicle moves at a prospective lateral acceleration Gd. A steering wheel turn control part 60 turning controls a steered wheel to a target turning angle δd. Since a driver performs the operation with a steering wheel while feeling the lateral acceleration, the driving of the vehicle becomes easy and the steering wheel 11 is not vibrated as the steering torque Td is made to be 0 at the neutral position. COPYRIGHT: (C)2006,JPO&NCIPI

Abstract translation: 要解决的问题：为了便于驾驶车辆并且通过响应于人的感知特性来转向车辆来防止在中立位置产生的方向盘的振动。 解决方案：位移 - 转矩转换部51将转向角θ转换为线控转向系统的转向装置中的转向转矩Td。 此时，在小于预定转向角θz的情况下，根据线性函数计算转向转矩Td，并且在不小于转向角θz的情况下根据指数函数计算转向转矩Td。 转矩 - 横向加速度转换部52将转向转矩Td转换为作为指数关系并由人感知的横向加速度Gd。 转向角转换部53计算出车辆以预期的横向加速度Gd移动所需的目标转角δd。 方向盘转向控制部60将转向轮转向目标转向角δd。 由于驾驶员在感觉横向加速度的情况下用方向盘进行操作，因此在中立位置使转向转矩Td变为0时，车辆的行驶变得容易，方向盘11不振动。 版权所有（C）2006，JPO＆NCIPI

公开(公告)号：JP2005219686A

公开(公告)日：2005-08-18

申请号：JP2004031529

申请日：2004-02-09

Applicant: Aisin Seiki Co Ltd ,  Toyota Motor Corp ,  アイシン精機株式会社 ,  トヨタ自動車株式会社

Inventor： GOTO TAKESHI ,  KUROSAWA RYUICHI ,  TOUTSU KENJI ,  YAMADA DAISUKE

IPC: B62D6/00 ,  B62D101/00 ,  B62D111/00 ,  B62D113/00 ,  B62D119/00 ,  B62D137/00

Abstract: PROBLEM TO BE SOLVED: To provide a steering gear for a vehicle capable of estimating the mental state of a driver, and reflecting the estimated mental state to steering characteristics. SOLUTION: An electronic controlling unit 35 obtains a steering angle θ, the stroke amount a of an accelerator pedal, and the stroke amount b of a brake pedal from a steering angle sensor 31, an accelerator pedal sensor 71, and brake pedal sensor 72. The unit 35 calculates acceleration θ", a", and b" of each operation from the obtained detection value, and estimates a mental state change of the driver by comparing the calculated values with operation determining threshold values St, At, and Bt. By this estimation, when the mental state of the driver changes to a state wanting to hurry, steering characteristics is changed to a map Hq having high steering responsibility to the steering of the driver, namely quick steering characteristics. Therefore, the moving state of the vehicle faithful to an intention of the driver can be obtained. COPYRIGHT: (C)2005,JPO&NCIPI

Abstract translation: 要解决的问题：提供一种能够估计驾驶员的精神状态的车辆的舵机，并且将估计的精神状态反映到转向特性。 解决方案：电子控制单元35从转向角传感器31，加速器踏板传感器71和制动踏板获得转向角θ，加速踏板的行程量a和制动踏板的行程量b 传感器72.单元35根据所获得的检测值计算每个操作的加速度θ“，a”和b“，并通过将计算值与运算确定阈值St，At和 通过这种估计，当驾驶员的精神状态变为想要急速的状态时，转向特性被改变为对驾驶员的转向具有高转向责任的地图Hq，即快速转向特性，因此，移动状态 可以获得忠实于司机意图的车辆。版权所有（C）2005，JPO＆NCIPI

公开(公告)号：JP2005193783A

公开(公告)日：2005-07-21

申请号：JP2004002224

申请日：2004-01-07

Applicant: Aisin Seiki Co Ltd ,  Toyota Motor Corp ,  アイシン精機株式会社 ,  トヨタ自動車株式会社

Inventor： GOTO TAKESHI ,  KUROSAWA RYUICHI ,  TOUTSU KENJI ,  YAMADA DAISUKE

IPC: B62D5/04 ,  B62D6/00 ,  B62D101/00 ,  B62D111/00 ,  B62D113/00 ,  B62D119/00 ,  B62D137/00

CPC classification number: B62D6/003

Abstract: PROBLEM TO BE SOLVED: To facilitate the driving of a vehicle by steering the vehicle by adjusting to the sensing characteristics of a human being to the operation of a steering wheel by a driver. SOLUTION: In this steering device for a steering-by-wire method vehicle, the front wheels are steered by a computer program process. A displacement-torque conversion section 51 converts a steering angle θ into a steering torque Td having an index relationship. A torque-lateral acceleration conversion section 52 converts the steering torque Td into a prospective lateral acceleration Gd as a motion quantity of state of the vehicle which is under an exponentiation relationship, and a human being may perceive. A rolling steering angle conversion section 53 calculates a target steering angle δd required for the vehicle to move at the prospective lateral acceleration Gd. Then, a steering control section 60 steers steering wheels to the target steering angle δd. Since a driver performs the steering wheel operation while feeling the lateral acceleration, the driving of the vehicle is facilitated. COPYRIGHT: (C)2005,JPO&NCIPI

Abstract translation: 要解决的问题：为了通过根据驾驶员对方向盘的操作的感测特性进行调整，便于驾驶车辆。

解决方案：在用于线控转向方法车辆的转向装置中，前轮通过计算机程序进程转向。 位移 - 转矩转换部51将转向角θ转换为具有指标关系的转向转矩Td。 转矩 - 横向加速度转换部分52将转向转矩Td转换成作为处于乘幂关系的车辆的状态的运动量和人可能感知的预期横向加速度Gd。 滚动转向角转换部53计算车辆以预期横向加速度Gd移动所需的目标转向角δd。 然后，转向控制部60将方向盘转向目标转向角δd。 由于驾驶员在感觉横向加速的同时执行方向盘操作，所以车辆的驾驶变得容易。 版权所有（C）2005，JPO＆NCIPI

公开(公告)号：JPS63315313A

公开(公告)日：1988-12-23

申请号：JP15078587

申请日：1987-06-17

Applicant: TOYOTA MOTOR CORP

Inventor： KUROSAWA RYUICHI

IPC: B60G17/00 ,  B60G17/015

Abstract: PURPOSE:To well control an attitude of a vehicle by calculating target centripetal acceleration while a change amount of load acting between a car body and a wheel thus controlling each actuator corresponding to each wheel being based on a car speed and a steering angle. CONSTITUTION:Each detection signal from each acceleration sensor 19, 21 in car width and longitudinal directions of a vehicle, steering angle sensor 32 and a car speed sensor 34 is respectively input to a distributor 23. And the distributor 23 calculates each value Nf, Nr for distributing a change amount of load, caused by acceleration in the car width direction acting between a wheel and a car body, to front and rear wheels by a proportion of Nf:Nr to be respectively output to each multiplier 25, 26. While a signal of each multiplier 25, 26 is respectively output to each servo actuator 1fl-1rr provided respectively corresponding to each wheel in the longitudinal right and left of the vehicle. Here being based on a deviation between the target centripetal acceleration and the actual centripetal acceleration, each value Nf, Nr is corrected being increased and decreased so that this deviation gradually decreases.

公开(公告)号：JP2006036060A

公开(公告)日：2006-02-09

申请号：JP2004219893

申请日：2004-07-28

Applicant: Aisin Seiki Co Ltd ,  Toyota Motor Corp ,  アイシン精機株式会社 ,  トヨタ自動車株式会社

Inventor： GOTO TAKESHI ,  KUROSAWA RYUICHI ,  TOUTSU KENJI

IPC: B62D6/00 ,  B62D5/04 ,  B62D101/00 ,  B62D111/00 ,  B62D113/00 ,  B62D119/00 ,  B62D137/00

Abstract: PROBLEM TO BE SOLVED: To provide a steering device for a vehicle with a by-wire system capable of facilitating the drive of the vehicle by steering it according to the perceptional characteristic of a human being. SOLUTION: The steering device on the by-wire system includes a displacement-torque conversion part 51 to convert the steering angle θ into the steering torque Td. A torque-transverse acceleration conversion part 52 converts the steering torque Td into a predicted transverse acceleration Gd which is in the exponential relation and which the human being can know perceptionally. A turning angle conversion part 53 calculates a target turning angle δd necessary for the vehicle to make motion with the predicted transverse acceleration Gd, and calculates the compensated target turning angle δdh through compensation of the target turning angle δd in accordance with the vehicle speed V and the running distance of the vehicle using the turning angle in the proportional relation with the steering angle θ. A turning control part 60 controls the steering wheels to make with the compensated target turning angle δdh. Thereby the optimum steering characteristic is obtained to suit the vehicle speed V and the driver's degree of having learnt the steering characteristics. COPYRIGHT: (C)2006,JPO&NCIPI

Abstract translation: 要解决的问题：提供一种具有能够通过根据人的感知特性通过转向而促进车辆的驱动的线控系统的用于车辆的转向装置。 解决方案：线控系统的转向装置包括将转向角θ转换为转向转矩Td的位移 - 转矩转换部51。 转矩 - 横向加速度转换部分52将转向转矩Td转换成指数关系中的预测横向加速度Gd，并且人可以被认知地知道。 转向角转换部53通过预测横向加速度Gd来计算车辆进行运动所需的目标转向角δd，并且通过根据车速V补偿目标转向角δd来计算补偿对象转弯角δdh， 使用与转向角θ成比例关系的转向角度的车辆的行驶距离。 转向控制部60以补偿的目标转向角δdh来控制方向盘。 从而获得最佳的转向特性以适应车速V和驾驶员学习转向特性的程度。 版权所有（C）2006，JPO＆NCIPI

公开(公告)号：JP2005313801A

公开(公告)日：2005-11-10

申请号：JP2004135373

申请日：2004-04-30

Applicant: Aisin Seiki Co Ltd ,  Toyota Motor Corp ,  アイシン精機株式会社 ,  トヨタ自動車株式会社

Inventor： GOTO TAKESHI ,  KUROSAWA RYUICHI ,  TOUTSU KENJI ,  YAMADA DAISUKE

IPC: B62D6/00 ,  B62D5/04 ,  B62D101/00 ,  B62D111/00 ,  B62D113/00 ,  B62D119/00 ,  B62D137/00

Abstract: PROBLEM TO BE SOLVED: To provide a device facilitating driving of a vehicle by steering the vehicle according to perception properties, wherein vehicle behavior estimated by a driver can be obtained as required. SOLUTION: In the steering device for a steering-by-wire method vehicle, a displacement-torque conversion part 51 converts a steering angle θ into steering torque Tdf, Tdr according to a turning operation or return operation of a steering wheel 11. At this time, a hysteresis term for constituting hysteresis characteristics between the turning operation and the return operation is applied to the steering torque Tdr to be calculated. A torque-lateral acceleration conversion part 52 converts the steering torque Td into a prospective lateral acceleration Gdf, Gdr which are under exponential relationship, and a human being may perceive, according to the turning operation or the return operation. A rolling steering angle conversion part 53 calculates a target steering angle δd required for the vehicle to move at the prospective lateral acceleration Gd. A steering control part 60 steers steered wheels to the target steering angle δd. COPYRIGHT: (C)2006,JPO&NCIPI

Abstract translation: 要解决的问题：提供一种通过根据感知特性来转向车辆而促进车辆行驶的装置，其中可以根据需要获得由驾驶员估计的车辆行为。 解决方案：在用于线控转向方法车辆的转向装置中，位移 - 转矩转换部分51根据方向盘11的转动操作或返回操作将转向角θ转换为转向转矩Tdf，Tdr 此时，将用于构成转向操作和返回操作之间的滞后特性的滞后项应用于要计算的转向转矩Tdr。 转矩 - 横向加速度转换部分52将转向转矩Td转换成指数关系下的预期横向加速度Gdf，Gdr，并且人可以根据转动操作或返回操作感知到。 滚动转向角转换部53计算车辆以预期横向加速度Gd移动所需的目标转向角δd。 转向控制部60将转向轮转向目标转向角δd。 版权所有（C）2006，JPO＆NCIPI

公开(公告)号：JP2005212689A

公开(公告)日：2005-08-11

申请号：JP2004024451

申请日：2004-01-30

Applicant: Aisin Seiki Co Ltd ,  Toyota Motor Corp ,  アイシン精機株式会社 ,  トヨタ自動車株式会社

Inventor： GOTO TAKESHI ,  KUROSAWA RYUICHI ,  TOUTSU KENJI ,  YAMADA DAISUKE

IPC: B62D6/00 ,  B62D5/04 ,  B62D101/00 ,  B62D111/00 ,  B62D113/00 ,  B62D119/00 ,  B62D137/00

Abstract: PROBLEM TO BE SOLVED: To provide a steering gear of a vehicle for certainly detecting a driving operation state of a driver and warning a state degradation with a simplified constitution. SOLUTION: An electronic control unit 35 calculates a variation ΔTs of a micro steering torque per micro time based on a steering torque T acquired from a steering torque sensor 38. The electronic control unit 35 determines the driving operation state of the driver by comparing the calculated variation ΔTs with an allowance acquired by multiplication of a predetermined constant (k), weber ratio Kt and steering torque T at the present time. Based on this determination, it is determined that failure of the driving operation state of the driver, degradation of the driving attitude, or reduction of the awakening degree occurs when the variation ΔTs is larger than the allowance. The electronic control unit 35, when detecting the failures of the driving operation state of the driver continuously over a predetermined times, vibrates a steering wheel 11 and informs the driver of the warning. COPYRIGHT: (C)2005,JPO&NCIPI

Abstract translation: 要解决的问题：提供车辆的舵机，用于确定地检测驾驶员的驾驶操作状态并以简化的结构警告状态退化。 解决方案：电子控制单元35基于从转向转矩传感器38获取的转向转矩T来计算每微时点的微转向转矩的变化ΔTs。电子控制单元35通过以下方式确定驾驶员的驾驶操作状态 将计算的变化ΔTs与通过乘以当前时间的预定常数（k），Weber比Kt和转向转矩T获得的余量进行比较。 基于该判断，判断为当变化ΔTs大于余量时，发生驾驶员的驾驶操作状态的失败，驾驶姿态的劣化或觉醒度的降低。 电子控制单元35在一段时间内连续检测驾驶员的驾驶操作状态的故障，使方向盘11振动并通知驾驶员警告。 版权所有（C）2005，JPO＆NCIPI

公开(公告)号：JP2005199957A

公开(公告)日：2005-07-28

申请号：JP2004010625

申请日：2004-01-19

Applicant: Aisin Seiki Co Ltd ,  Toyota Motor Corp ,  アイシン精機株式会社 ,  トヨタ自動車株式会社

Inventor： GOTO TAKESHI ,  KUROSAWA RYUICHI ,  TOUTSU KENJI ,  YAMADA DAISUKE

IPC: B62D6/00 ,  B62D5/04 ,  B62D101/00 ,  B62D111/00 ,  B62D113/00 ,  B62D137/00

Abstract: PROBLEM TO BE SOLVED: To provide a vehicular steering gear capable of changing to have steering feeling suitable for a situation of a vehicular front side without impairment of perception properties and moving properties. SOLUTION: An electronic control unit 35 obtains road information obtained from a navigation device A, namely information indicating a curve radius R in a front side of a road and a slope S. The unit 35 determines a situation in the front side of the road on the basis of obtained information, and properly changes steering torque Td that has an index relation with a steering angle θ. Therefore, the driver can be given steering feeling that is suitable for a traveling environment. In this case, even if the steering feeling is changed, the perception properties of estimated lateral acceleration Gd is not changed before/after changing according to the Weber Fechner's law. COPYRIGHT: (C)2005,JPO&NCIPI

Abstract translation: 要解决的问题：提供一种能够改变以具有适合于车辆前侧的情况的转向感觉而不损害感知特性和移动性能的车辆舵机。 解决方案：电子控制单元35获取从导航装置A获得的道路信息，即指示道路前侧和坡度S的曲线半径R的信息。单元35确定前方的情况 基于获得的信息的道路，并且适当地改变与转向角θ具有指数关系的转向转矩Td。 因此，驾驶员可以获得适合于旅行环境的转向感。 在这种情况下，即使转向感觉发生变化，估计的横向加速度Gd的感知特性根据韦伯Fechner定律改变之前/之后不改变。 版权所有（C）2005，JPO＆NCIPI

公开(公告)号：JP2005199955A

公开(公告)日：2005-07-28

申请号：JP2004010614

申请日：2004-01-19

Applicant: Aisin Seiki Co Ltd ,  Toyota Motor Corp ,  アイシン精機株式会社 ,  トヨタ自動車株式会社

Inventor： GOTO TAKESHI ,  KUROSAWA RYUICHI ,  TOUTSU KENJI ,  YAMADA DAISUKE

IPC: B62D6/00 ,  B62D5/04 ,  B62D101/00 ,  B62D111/00 ,  B62D113/00 ,  B62D137/00

Abstract: PROBLEM TO BE SOLVED: To provide a vehicular steering gear capable of certainly reporting a generated abnormal condition without impairment of perception properties and moving properties even when an abnormal condition occurs. SOLUTION: When an abnormal condition (failure) occurs in steering, an electronic control unit 35 changes steering torque Td by adopting a map N2 increasing(namely, weighting) the steering torque Td on the basis of a converting table of the steering torque Td to a steering angle θ. The steering torque Td to a steering wheel 11 operation by a driver is made to be large as compared with that under a normal condition. At that time, even if the steering torque Td is increased, the perception properties of an estimated lateral acceleration Gd is not changed before/after the generation of the failure according to the Weber Fechner's law. COPYRIGHT: (C)2005,JPO&NCIPI

Abstract translation: 要解决的问题：即使发生异常情况，也可以提供能够肯定地报告产生的异常状况而不损害感知特性和移动性的车辆用舵机。 解决方案：当转向中发生异常状态（故障）时，电子控制单元35通过采用基于转向转换表的转向转矩Td来增加（即加权）转向转矩Td的图N来改变转向转矩Td 转矩Td为转向角θ。 与正常情况相比，使驾驶员对方向盘11的操作转矩Td大。 此时，即使转向转矩Td增加，根据韦伯Fechner定律，估计的横向加速度Gd的感知特性在故障生成之前/之后不改变。 版权所有（C）2005，JPO＆NCIPI

公开(公告)号：JP2001052297A

公开(公告)日：2001-02-23

申请号：JP22354399

申请日：1999-08-06

Applicant: FUJITSU LTD ,  TOYOTA MOTOR CORP

Inventor： KANEKO JUNJI ,  SHIMAMURA AKIHIDE ,  KUROSAWA RYUICHI ,  UEHARA YASUO

IPC: G08G1/16

Abstract: PROBLEM TO BE SOLVED: To obtain environment information on the periphery of its own automobile and to automatically generate a proper driving operation command signal on the basis of the acquired information. SOLUTION: A travel support signal generation part 12 reads in a driving operation model and a driving operation generating means from a driving operation model storage part 13 and a driving operation generating means storage means 14 and generates a travel support signal. A travel support signal generation part 12 obtains information of an external field needed to generate the travel support signal from a sensing device 11 and obtains an indication signal for driving operation from an input device 10. The travel support signal generation part 12 outputs the travel support signal to an output device 15. The output device 15 presents driving operation corresponding to the travel support signal. Further, the output device 15 outputs a control signal for driving signal generation to a driving part 25 through a controller 24.