公开(公告)号：JP2001151134A

公开(公告)日：2001-06-05

申请号：JP33623499

申请日：1999-11-26

Applicant: TOYOTA MOTOR CORP

Inventor： KOSHIRO TAKAHIRO ,  KAWAMURO JIYUNJI ,  MATSUDA MORIHIRO ,  NAKATSU CHIKATOSHI

IPC: B62D6/00 ,  B62D5/04

Abstract: PROBLEM TO BE SOLVED: To solve the problem that when the driving motor of a transmission ratio varying mechanism is stopped near a maximum steering angle, motor heating due to increase in load is inhibited but a transmission ratio varies abruptly as the result of the stop of the driving motor, making the driver feel disagreeable. SOLUTION: Near the maximum steering angle where a wheel steering angle exceeds a threshold, a control signal Is (in) normally set for the driving motor is limited to such an extent that the transmission ratio varying mechanism can be kept immobile by the action of friction torque which the transmission ratio varying mechanism itself has. The driving motor is actuated by the limited control signal Is (out).

公开(公告)号：JP2001048028A

公开(公告)日：2001-02-20

申请号：JP22404999

申请日：1999-08-06

Applicant: TOYOTA MOTOR CORP

Inventor： NAKATSU CHIKATOSHI ,  KAWAMURO JIYUNJI ,  MATSUDA MORIHIRO ,  KOSHIRO TAKAHIRO

IPC: B62D6/02 ,  B62D5/04

Abstract: PROBLEM TO BE SOLVED: To provide a steering control device for a vehicle which can surely operate a lock mechanism and surely detect a lock position even in the case where a motor of a variable transmission ratio mechanism is rotating at a high speed. SOLUTION: A lock mechanism is formed in a two-step constitution, a groove width of an engaging groove 213 of a first lock mechanism 210 is set large, a groove width of an engaging groove 223 of a second lock mechanism 220 is set small. Even when a motor is rotated at a high speed, first rotation of the motor is stopped in a side of the first lock mechanism 210, thereafter positioning of a motor stop position is performed in a side of the second lock mechanism 220.

公开(公告)号：JP2000351383A

公开(公告)日：2000-12-19

申请号：JP23414399

申请日：1999-08-20

Applicant: TOYOTA MOTOR CORP

Inventor： KOSHIRO TAKAHIRO ,  KAWAMURO JIYUNJI ,  MATSUDA MORIHIRO ,  NAKATSU CHIKATOSHI ,  SHINTO MASAHIKO

IPC: B62D6/00 ,  B62D5/22

Abstract: PROBLEM TO BE SOLVED: To provide a steering control device for a vehicle to execute suitable steering control from the time at which control is started by a method wherein combination of a relative angle sensor and an absolute angle sensor from a point of view of control is used as a detecting sensor. SOLUTION: A working angle sensor is provided to detect the working angle of the actuator of a transmission ratio varying mechanism by an absolute angle. A working angle θm0 detected by a working angle sensor is stored during completion of control (S122). During reopening of control, based on the working angle θm0 and a transmission ratio G0, the absolute angle θh0 of a steering handle is estimated (S104).

公开(公告)号：JP2000211541A

公开(公告)日：2000-08-02

申请号：JP1438999

申请日：1999-01-22

Applicant: TOYOTA MOTOR CORP

Inventor： SHINTO MASAHIKO ,  KOSHIRO TAKAHIRO ,  MATSUDA MORIHIRO ,  KAWAMURO JIYUNJI

IPC: B62D1/19 ,  B62D1/20 ,  B62D3/12 ,  B62D5/04 ,  B62D5/22 ,  B62D6/00 ,  B62D113/00

Abstract: PROBLEM TO BE SOLVED: To enable mounting of a transmission ratio variable mechanism without a large change in the existing structure by constructing a steering shaft of a forward end shaft part, intermediate shaft part and rear end shaft part connected mutually in series under a bent state via a joint member, and providing a transmission variable mechanism at the intermediate shaft part. SOLUTION: A steering shaft is constructed of a forward end shaft part, rear end shaft part, and an intermediate shaft part 300 connecting the two to each other. The forward end shaft part is connected to the intermediate shaft part 300 and the rear end shaft part is connected to the intermediate shaft part 300 in a bent state via constant velocity joints 50, 60, respectively. A drive motor for a transmission ratio variable mechanism composed of a stator 321 and a rotor 322 is constructed at the inner side of cylinder surface of a housing 310 constituting the intermediate shaft part 300. In the vicinity of the intermediate shaft part 300, a mounting space is relatively acquired. Accordingly, with the provision of the transmission ratio variable mechanism at the intermediate shaft part 300, the purpose is attained.

公开(公告)号：JPH11321684A

公开(公告)日：1999-11-24

申请号：JP13554098

申请日：1998-05-18

Applicant: TOYOTA MOTOR CORP

Inventor： YAMAMOTO TAKASHI ,  KOSHIRO TAKAHIRO

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

Abstract: PROBLEM TO BE SOLVED: To sufficiently suppress the circumferential vibration of a steering handle even in no-hands state by providing a second control means for controlling the generating torque of an actuator to control deviation to a small value, compared with a first control means when the no-hands state is judged. SOLUTION: On the basis of the transmission ratio G get by a transmission ratio setting part 71 and the input angle θ h detected by an input angle sensor 21, an output angle target value θ pm forming a target rotating angle of an output shaft is set by calculation with θ pm=G.θ h. The deviation (e) between the set output angle target value θ pm and the output angle θp detected by an output angle sensor 41 is imparted to a switching part 72. The switching part 72 switches the designation of the input deviation (e) to either one of compensators 74, 75 on the basis of the judgment result of a no-hands state judging part 73. In a general steering state, which is not the no-hands state, the compensator 74 having the higher gain is used, and in the no-hands state, the compensator 75 having a gain set small is used.

公开(公告)号：JPH11263238A

公开(公告)日：1999-09-28

申请号：JP6683498

申请日：1998-03-17

Applicant: TOYOTA MOTOR CORP

Inventor： SHINTO MASAHIKO ,  KOSHIRO TAKAHIRO ,  MATSUDA MORIHIRO ,  KAWAMURO JIYUNJI

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

Abstract: PROBLEM TO BE SOLVED: To provide a steering response characteristic according to a change in a motion characteristic by providing a transmission ratio varying means provided in the midway of a steering transmission system for connecting a steering wheel with a steering wheel for varying a transmission ratio between the steering amount of the steering wheel and the steering amount of the steering wheel based on a wheel state. SOLUTION: A variable gear ratio unit 14 varies a transmission ratio between the steering amount of a steering wheel 10 and the steering amounts of steering wheels 24FL and 24FR, and is provided with a motor and a reduction gear using a planetary gear mechanism, a harmonic drive mechanism or the like. This transmission ratio is defined by (steering amount of the steering wheel 10)/(steering amounts of the steering wheels 24FL and 24FR). Also, the variable gear ratio unit 14 is connected to an ECU 30 via a motor driver 36, and operated by receiving the control signal of this ECU 30. When a wheel state is changed to change the motion characteristic of the vehicle, the transmission ratio of the steering transmission system is changed according to the vehicle state.

公开(公告)号：JPH11245833A

公开(公告)日：1999-09-14

申请号：JP4945698

申请日：1998-03-02

Applicant: TOYOTA MOTOR CORP

Inventor： SHINTO MASAHIKO ,  KOSHIRO TAKAHIRO ,  MATSUDA MORIHIRO ,  KAWAMURO JIYUNJI

IPC: B62D6/00 ,  B62D101/00 ,  B62D113/00 ,  B62D127/00 ,  B62D137/00 ,  G08G1/16

Abstract: PROBLEM TO BE SOLVED: To provide a steering controller for vehicle which variably control the transmission ratio on the basis of the transmission ratio optimum for the traveling environment. SOLUTION: A steering controller for vehicle 2 interposing a variable gear ratio unit 14 midway of a steering transmission system which connects a steering wheel 10 and steered wheels 24, and providing with an ECU 30 which controls the transmission ratio corresponding to the condition of the vehicle, further has a navigation device 34 for detecting the traveling environment of the vehicle, and changes the transmission ratio of the variable gear ratio unit 14 through the ECU 30 on the basis of the traveling environment detected by the navigation device 34.

公开(公告)号：JPH1134894A

公开(公告)日：1999-02-09

申请号：JP3482898

申请日：1998-02-17

Applicant: TOYOTA MOTOR CORP

Inventor： SHINTO MASAHIKO ,  KOSHIRO TAKAHIRO ,  MATSUDA MORIHIRO ,  KAWAMURO JIYUNJI

IPC: B62D1/10 ,  B62D5/04 ,  B62D5/22 ,  B62D6/00 ,  B62D121/00

Abstract: PROBLEM TO BE SOLVED: To hold the relation between the steering quantity of a steering handle and the steering quantity of a steering wheel, even if an excessive load is inputted to a transmission rate variable means in traveling. SOLUTION: A steering wheel for a vehicle is provided with a variable gear ratio unit 14 which is provided in a steering shaft for connecting a steering handle to the steering wheel and variably changes the transmission ratio by the drive of a motor 40, a rotation member 68 which is provided with an engagement part installed in the rotary shaft side of the motor 40, and relative rotation limit means 60, 62, 64 which can limit the relative rotation between the housing 44 for the motor 40 and the rotation member 68.

公开(公告)号：JPH10194143A

公开(公告)日：1998-07-28

申请号：JP306597

申请日：1997-01-10

Applicant: TOYOTA MOTOR CORP

Inventor： KOSHIRO TAKAHIRO ,  KAWAMURO JIYUNJI

IPC: B62D6/00 ,  B62D5/00 ,  B62D5/04 ,  B62D137/00 ,  F16H61/662

Abstract: PROBLEM TO BE SOLVED: To restrict the inertia force, which gives the influence to the steering of a steering wheel, by transmitting the output of a motor to a steering system through a transmission in the case where a steering wheel is operated. SOLUTION: In the case where a steering wheel 10 is operated and the steering torque is detected by a torque sensor 28, a detected steering torque value is transmitted from the torque sensor 28 to an ECU 30. In this case, the ECU 30 determines magnitude of the steering torque value, and in the case where the steering torque value is determined small, control signal is output to a gear ratio changing motor 40 so as to lower the gear ratio of a continuous transmission 22. Consequently, inertia force due to the power assist motor 24 can be reduced by linearly reducing the gear ratio in response to the detected steering torque value, and steering feeling of the steering wheel 10 can be improved.

公开(公告)号：JP2013129328A

公开(公告)日：2013-07-04

申请号：JP2011280470

申请日：2011-12-21

Applicant: Toyota Motor Corp ,  トヨタ自動車株式会社

Inventor： KONISHI SHINYA ,  KOSHIRO TAKAHIRO ,  KUNIHIRO YOJI ,  KUDO YOSHIO

IPC: B62D6/00 ,  B60R21/00 ,  B62D101/00 ,  B62D111/00 ,  B62D113/00 ,  B62D119/00 ,  B62D137/00 ,  G08G1/16

Abstract: PROBLEM TO BE SOLVED: To provide a device and method for controlling a locus which can improve reliability and safety of automatic driving.SOLUTION: The method for controlling a locus includes the steps of: detecting obstacles existing on the periphery of a vehicle; generating a plurality of target loci so that the vehicle avoids the detected obstacles; detecting, as a driver's intention, an avoiding direction of the vehicle relative to an obstacle, which is determined by the operation of the driver; selecting a target locus of the avoiding direction, on which the driver's intention is reflected, from the plurality of generated target loci; and executing locus control for avoiding the obstacle based on the selected target locus.

Abstract translation: 要解决的问题：提供一种用于控制能够提高自动驾驶的可靠性和安全性的轨迹的装置和方法。解决方案：用于控制轨迹的方法包括以下步骤：检测存在于车辆周边的障碍物; 产生多个目标轨迹，使得车辆避免检测到的障碍物; 作为驾驶员的意图，检测由驾驶员的操作确定的车辆相对于障碍物的避开方向; 从多个生成的目标轨迹中选择反映驾驶员意图的避免方向的目标轨迹; 以及基于所选择的目标轨迹执行用于避免障碍物的轨迹控制。