公开(公告)号：JP2011079410A

公开(公告)日：2011-04-21

申请号：JP2009232852

申请日：2009-10-06

Applicant: Aisin Seiki Co Ltd ,  Toyota Central R&D Labs Inc ,  Toyota Motor Corp ,  アイシン精機株式会社 ,  トヨタ自動車株式会社 ,  株式会社豊田中央研究所

Inventor： LIMPIBUNTERNG THEERAWAT ,  TSUCHIYA YOSHIAKI ,  NITTA HIROSHI ,  ASAI SHOJI

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

CPC classification number: B62D15/025 ,  B62D1/286 ,  B62D6/04

Abstract: PROBLEM TO BE SOLVED: To prevent the interference between a lane keep control and a steering control reflecting the steering intention of a driver without lowering control quality.
SOLUTION: In a vehicle including a steering force imparting means imparting the steering force urging a change of a steering angle of the turned wheel to the turned wheel, this control device includes a deviation detection means for detecting the position state deviation for stipulating the relative positional relation between a target travel route and the vehicle to be maintained, a determination means for determining the control quantity of the steering force imparting means based on the detected position state deviation, a control means for maintaining the travel route of the vehicle to the target travel route by controlling the steering force imparting means according to the determined control quantity, a steering input detection means for detecting the steering input of the driver, and a correction means for correcting the determination base of the control quantity of the steering force imparting means to reflect the steering input when the steering input is detected in a period when the travel route is maintained to the target travel route.
COPYRIGHT: (C)2011,JPO&INPIT

Abstract translation: 要解决的问题：为了防止车道保持控制和反映驾驶员的转向意图的转向控制器之间的干扰而不降低控制质量。 解决方案：在包括转向力施加装置的车辆中，该转向力赋予转向力以促使转向轮的转向角改变到转向轮，该控制装置包括偏差检测装置，用于检测位置偏差以规定 目标行驶路线与要保持的车辆之间的相对位置关系，基于检测到的位置状态偏差确定转向力施加装置的控制量的判定装置，用于将车辆的行驶路线保持为的控制装置 通过根据所确定的控制量控制转向力施加装置的目标行驶路线，用于检测驾驶员的转向输入的转向输入检测装置以及用于校正施加转向力的控制量的确定基准的校正装置 意味着在围栏中检测到转向输入时反映转向输入 当旅行路线保持到目标行驶路线时。 版权所有（C）2011，JPO＆INPIT

公开(公告)号：JP2009001279A

公开(公告)日：2009-01-08

申请号：JP2008259842

申请日：2008-10-06

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

Inventor： LIMPIBUNTERNG THEERAWAT ,  KOSHIRO TAKAHIRO

IPC: B62D6/00 ,  B62D5/04 ,  B62D101/00 ,  B62D107/00 ,  B62D113/00 ,  B62D117/00 ,  B62D119/00 ,  B62D127/00

Abstract: PROBLEM TO BE SOLVED: To eliminate deterioration in a driver's feeling of steering under low temperatures with a lower cost. SOLUTION: This vehicular steering control device (10) is a vehicular steering control device for controlling an operation of an electric vehicular steering device to apply a steering assist force to a steering mechanism through gear segments (16, 17). The vehicular steering control device comprises a temperature estimating means (31) for estimating a gear temperature (T_gear) and a correcting means (32) for correcting a steering assist force in response to the estimated gear temperature. COPYRIGHT: (C)2009,JPO&INPIT

Abstract translation: 要解决的问题：以较低的成本消除驾驶员在低温下转向感的劣化。 解决方案：该车辆转向控制装置（10）是用于控制电动车辆转向装置的操作的车辆转向控制装置，以通过齿轮段（16,17）向转向机构施加转向辅助力。 车辆转向控制装置包括用于估计齿轮温度（T_gear）的温度估计装置（31）和用于响应于所估计的齿轮温度校正转向辅助力的校正装置（32）。 版权所有（C）2009，JPO＆INPIT

公开(公告)号：JP2008044427A

公开(公告)日：2008-02-28

申请号：JP2006219622

申请日：2006-08-11

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

Inventor： LIMPIBUNTERNG THEERAWAT ,  KOSHIRO TAKAHIRO

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

Abstract: PROBLEM TO BE SOLVED: To optimize turning responsiveness of a vehicle felt by a driver even when a traveling road is a meandering traveling road by changing a phase of variation of a steering angle of a steering wheel relative to variation of a steering operation amount of the driver to an advancement side when width of the traveling road is small and a steering gear ratio is controlled to a large value.
SOLUTION: The steering controller for the vehicle has a turned angle variable device 14 as a steering gear ratio variable means; and an electronic control device 16 for controlling the steering gear ratio by controlling the turned angle variable device 14. When the width Wd of the traveling road detected by CCD cameras 58 and 60 is small, a proportional gain of the control of the steering gear ratio is increased as compared with the case where the width of the traveling road is large, and when the width of the traveling road is small, a differential gain of the control of the steering gear ratio is increased as compared with the case where the width of the traveling road is large. Thereby, the phase of variation of the steering angle of the steering wheel relative to the variation of the steering operation amount is advanced.
COPYRIGHT: (C)2008,JPO&INPIT

Abstract translation: 要解决的问题：即使当行驶道路是曲折的行驶道路时，通过改变方向盘的转向角相对于转向操作的变化的变化的相位来优化驾驶员的车辆感觉的转向响应性 当行驶道路的宽度小并且舵机比被控制到大值时，驾驶员到前进侧的量。 解决方案：用于车辆的转向控制器具有作为转向齿轮比可变装置的转角可变装置14; 以及用于通过控制转角可变装置14来控制转向齿轮比的电子控制装置16.当由CCD照相机58和60检测到的行驶道路的宽度Wd小时，转向传动比的控制的比例增益 与行驶道路的宽度大的情况相比，与行驶道路的宽度小的情况相比，舵机比的控制的差分增益与宽度 行车道很大。 由此，提高了方向盘相对于转向操作量的变化的转向角的变化的相位。 版权所有（C）2008，JPO＆INPIT

公开(公告)号：JP2012006506A

公开(公告)日：2012-01-12

申请号：JP2010144850

申请日：2010-06-25

Applicant: Toyota Central R&D Labs Inc ,  Toyota Motor Corp ,  トヨタ自動車株式会社 ,  株式会社豊田中央研究所

Inventor： LIMPIBUNTERNG THEERAWAT ,  TSUCHIYA YOSHIAKI ,  ASAI SHOJI

IPC: B62D6/00 ,  B62D5/04 ,  B62D7/14 ,  B62D101/00 ,  B62D113/00 ,  B62D119/00

CPC classification number: B62D6/00 ,  B62D5/005 ,  B62D5/008 ,  B62D5/0472 ,  B62D7/159 ,  B62D15/025

Abstract: PROBLEM TO BE SOLVED: To make a vehicle follow a target lane without deteriorating drivability.SOLUTION: This control device (100) for the vehicle (10) includes: a steering torque supply means (400) that supplies steering torque to a steering device coupled to a steered wheel (FL, FR); and a steering transmission ratio varying means (200, 600) that changes a steering transmission ratio. The control device further includes: a setting means for setting a target state quantity for making the vehicle follow a target lane; a first control means controlling the steering transmission ratio varying means in such a manner that a state quantity of the vehicle reaches a set target state quantity; a second control means controlling the steering torque supply means in such a manner that steering reaction restriction torque that restricts steering reaction torque generated in the steering device is supplied as the steering torque when the vehicle is made to follow the target lane; and a correcting means correcting the steering reaction restriction torque on the basis of a steering input when the steering input from a driver of the vehicle is produced.

Abstract translation: 要解决的问题：使车辆跟随目标车道，而不会降低驾驶性能。 解决方案：用于车辆（10）的该控制装置（100）包括：转向扭矩供应装置（400），其向耦合到转向轮（FL，FR）的转向装置提供转向转矩; 以及改变转向传动比的转向传动比变化装置（200,600）。 控制装置还包括：设定装置，用于设定用于使车辆跟随目标车道的目标状态量; 第一控制装置，以使得车辆的状态量达到设定的目标状态量的方式控制转向传动比变化装置; 控制转向转矩供给装置的第二控制装置，使得当使车辆跟随目标车道时，供给限制转向装置中产生的转向反作用转矩的转向反作用力矩作为转向转矩; 以及校正装置，当从车辆的驾驶员产生转向输入时，基于转向输入来校正转向反作用力限制转矩。 版权所有（C）2012，JPO＆INPIT

公开(公告)号：JP2011201366A

公开(公告)日：2011-10-13

申请号：JP2010068824

申请日：2010-03-24

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

Inventor： NARITA TETSUHIRO ,  TANIMOTO MITSUTAKA ,  NISHIKAWA TOMOHISA ,  TAKASHIMA KYO ,  LIMPIBUNTERNG THEERAWAT ,  TSUCHIYA YOSHIAKI

IPC: B60W30/12 ,  B60T8/1755 ,  B60W10/00 ,  B60W10/04 ,  B60W10/06 ,  B60W10/18 ,  B60W10/188 ,  B60W10/20 ,  B60W30/00 ,  B60W40/12 ,  B62D5/04 ,  B62D6/00 ,  B62D113/00 ,  B62D119/00

Abstract: PROBLEM TO BE SOLVED: To quickly and accurately estimate a steering reaction force transmitted from a steering wheel.SOLUTION: A unit (100) for controlling a vehicle (10) includes: a steering angle varying means (200) for changing the steering angle of at least one of a front wheel and a rear wheel; and a drive/brake force varying means (600) for changing a drive/brake force difference of the right/left wheels of at least one of the front wheel and the rear wheel. The unit is provided with: a setting means for setting a plurality of target state quantities corresponding to target motion states of the vehicle; a motion control means for controlling the steering angle varying means and the drive/brake force varying means according to a plurality of the set target state quantities so that the motion state of the vehicle can be set to the target motion state; and an estimation means for estimating the steering reaction force on the basis of a plurality of elements among the plurality of set target state quantities and the steering angle of at least one of the front wheel and the rear wheel corresponding to the set target state quantities and the driving/braking force difference of the right/left wheels of at least one of the front wheel and the rear wheel corresponding to the set target state quantities.

Abstract translation: 要解决的问题：快速准确地估计从方向盘传递的转向反作用力。解决方案：一种用于控制车辆（10）的单元（100），包括：转向角改变装置（200），用于改变转向角 前轮和后轮中的至少一个; 以及用于改变前轮和后轮中的至少一个的左/右车轮的驱动/制动力差的驱动/制动力变化装置（600）。 该单元设置有：用于设定与车辆的目标运动状态相对应的多个目标状态量的设定装置; 运动控制装置，用于根据多个设定的目标状态量控制转向角可变装置和驱动/制动力改变装置，使得可以将车辆的运动状态设置为目标运动状态; 以及估计装置，用于基于多个设定目标状态量中的多个元素和与设定的目标状态量对应的前轮和后轮中的至少一个的转向角来估计转向反作用力，以及 前轮和后轮中的至少一个的左/右车轮的驱动/制动力差与设定的目标状态量对应。

公开(公告)号：JP2010285036A

公开(公告)日：2010-12-24

申请号：JP2009139449

申请日：2009-06-10

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： TANIMOTO MITSUTAKA ,  LIMPIBUNTERNG THEERAWAT ,  NITTA HIROSHI ,  ASAI SHOJI

IPC: B62D6/00 ,  B62D7/14 ,  B62D101/00 ,  B62D109/00 ,  B62D111/00 ,  B62D113/00

Abstract: PROBLEM TO BE SOLVED: To suitably move a vehicle including a four-wheel steering device in parallel with an advancing direction during steering.
SOLUTION: The vehicle 10 has: front wheel side steering mechanisms 250 and 260 steering front wheels; and rear wheel side steering mechanisms 270 and 280 steering rear wheels to take different steering angles according to traveling states in relation to steering angles of the front wheels to be steered. This vehicle control device 100 for controlling the vehicle 10 is equipped with: a time constant determination means for determining values of time constants τ1 and τ2 included in a second function showing a relation between the steering angle of each of the front wheels and the steering angle of each of the rear wheels when a yaw angle of the vehicle 10 is made zero from a first function for specifying the yaw angle set in advance; and a target steering angle determination means for determining a rear wheel target steering angle σr to be a steering angle to be taken by each of the rear wheels in relation to a steering angle σf of each of the front wheels to be steered when the yaw angle is made zero by using the second function in which the determined values are substituted for time constants τ1 and τ2.
COPYRIGHT: (C)2011,JPO&INPIT

Abstract translation: 要解决的问题：在转向期间适当地移动包括与前进方向平行的四轮转向装置的车辆。 解决方案：车辆10具有：前轮侧转向机构250和260转向前轮; 后轮侧转向机构270,280根据相对于被转向的前轮的转向角度的行驶状态而转向后轮以采取不同的转向角。 用于控制车辆10的车辆控制装置100配备有：时间常数确定装置，用于确定包括在表示每个前轮的转向角与转向角之间的关系的第二功能中的时间常数τ1和τ2的值 当从用于指定预先设定的偏航角的第一功能将车辆10的偏航角设为零时， 以及目标转向角确定装置，用于将后轮目标转向角度σr确定为每个后轮所需的转向角相对于要转向的每个前轮的转向角度σf，当偏航角 通过使用其中将所确定的值代入时间常数τ1和τ2的第二函数为零。 版权所有（C）2011，JPO＆INPIT

公开(公告)号：JP2008068844A

公开(公告)日：2008-03-27

申请号：JP2006251849

申请日：2006-09-15

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

Inventor： LIMPIBUNTERNG THEERAWAT ,  KOSHIRO TAKAHIRO

IPC: B62D6/00 ,  B62D5/04 ,  B62D107/00 ,  H02P29/00

CPC classification number: B62D5/0463 ,  B62D5/0496 ,  Y10T477/6395

Abstract: PROBLEM TO BE SOLVED: To eliminate a deterioration in driver's feeling felt on steering under a low temperature state of a steering mechanism under lower cost. SOLUTION: This vehicular steering control device (10) is a vehicular steering control device for controlling an operation of an electric vehicular steering device to apply a steering assist force to a steering mechanism through gear segments (16, 17). The vehicular steering control device comprises a temperature estimating means (31) for estimating a gear temperature (T_gear) and a correcting means (32) for correcting a steering assist force in response to the estimated gear temperature. COPYRIGHT: (C)2008,JPO&INPIT

Abstract translation: 要解决的问题：为了消除在较低成本下在转向机构的低温状态下转向感觉的驾驶员感觉的恶化。 解决方案：该车辆转向控制装置（10）是用于控制电动车辆转向装置的操作的车辆转向控制装置，以通过齿轮段（16,17）向转向机构施加转向辅助力。 车辆转向控制装置包括用于估计齿轮温度（T_gear）的温度估计装置（31）和用于响应于所估计的齿轮温度校正转向辅助力的校正装置（32）。 版权所有（C）2008，JPO＆INPIT

公开(公告)号：JP2007283880A

公开(公告)日：2007-11-01

申请号：JP2006112587

申请日：2006-04-14

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

Inventor： LIMPIBUNTERNG THEERAWAT

IPC: B62D6/00 ,  B60G17/018 ,  B60G21/055 ,  B62D1/16 ,  B62D5/04 ,  B62D7/14 ,  B62D101/00 ,  B62D111/00 ,  B62D113/00 ,  B62D137/00

Abstract: PROBLEM TO BE SOLVED: To reduce behavior changes of a vehicle, to improve travel performance of the vehicle and to make a driver feel less odd by controlling the steering angle of a steered wheel to reduce influence imparted on the vehicle by a toe change of a wheel by roll steering.
SOLUTION: A target steering angle δft of a front wheel is calculated to attain a prescribed steering characteristic (S320). Change amount Δδf of the steering angle of the front wheel and change amount Δδr of the steering angle of a rear wheel caused by the roll steering are calculated (S330, 335, 340, 345). Based on the change amount Δδf and Δδr of the steering angle, target correction amount Δδft of the steering angle of the front wheel is calculated to cancel a change of a yaw rate γ of the vehicle caused by the toe change of the wheel by the roll steering (S350). The target steering angle δft of the front wheel is corrected to be the sum of the target steering angle δft of the front wheel and the correction amount Δδft of the steering angle of the front wheel (S360). A turning angle variable device 34 is controlled so that the steering angle δf of the front wheel may be the target steering angle δft (S370, 380).
COPYRIGHT: (C)2008,JPO&INPIT

Abstract translation: 要解决的问题：为了减少车辆的行为变化，为了改善车辆的行驶性能，并且通过控制转向轮的转向角度使驾驶员感觉不那么奇怪，以减少由脚趾赋予车辆的影响 通过滚动转向改变车轮。 解决方案：计算前轮的目标转向角度δft以获得规定的转向特性（S320）。 计算出前轮转向角的变化量Δδf和由侧倾转向引起的后轮转向角的变化量Δδr（S330,335,340,345）。 基于转向角的变化量Δδf和Δδr，计算出前轮的转向角的目标修正量Δδft，以抵消由车轮的脚趾变化引起的车辆的横摆率γ的变化 转向（S350）。 前轮的目标转向角度δft被校正为前轮的目标转向角度δft与前轮的转向角的校正量Δδft之和（S360）。 控制转向角可变装置34，使得前轮的转向角δf可以是目标转向角δft（S370,380）。 版权所有（C）2008，JPO＆INPIT

公开(公告)号：JP2007125965A

公开(公告)日：2007-05-24

申请号：JP2005319512

申请日：2005-11-02

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

Inventor： LIMPIBUNTERNG THEERAWAT ,  KOSHIRO TAKAHIRO

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

CPC classification number: B62D5/008 ,  B62D5/0466

Abstract: PROBLEM TO BE SOLVED: To provide a vehicular steering control device capable of compatibly suppressing generation of vibration in a hands-off-the-wheel state and suppressing positional deviation caused by the disturbance. SOLUTION: A driver torque estimation unit 42 estimates the steering torque Th of a driver from the input angle θh as the output of an input angle sensor 30 and the input torque T as the output of a torque sensor 31. A hands-off determination unit 43 determines whether or not a hand is off by comparing the absolute value of the estimated steering torque Th with the predetermined value ε1. On the other hand, a balance point determination unit 44 determines whether or not a balanced state is obtained by comparing the absolute value of the input torque T with another predetermined value ε2. When it is determined that the hands-off state and the balanced state are obtained, a changing unit 46 changes a switch to a lower side in the figure, and the target turning angle can be reduced by multiplying the predetermined gain G (less than 1) according to the input torque T by the target output angle θpm by a target turning angle adjustment unit 45. COPYRIGHT: (C)2007,JPO&INPIT

Abstract translation: 解决的问题：提供一种车辆转向控制装置，其能够兼容地抑制手轮状态的振动的产生，并且抑制由于扰动引起的位置偏差。 解决方案：驾驶员扭矩估计单元42从作为输入角度传感器30的输出的输入角θh和作为转矩传感器31的输出的输入转矩T估计驾驶员的转向转矩Th。 关闭判定单元43通过将估计转向转矩Th的绝对值与预定值ε1进行比较来确定手是否关闭。 另一方面，平衡点确定单元44通过将输入转矩T的绝对值与另一个预定值ε2进行比较来确定是否获得了平衡状态。 当确定获得了切断状态和平衡状态时，改变单元46将开关切换到图中的下侧，并且可以通过将预定增益G（小于1）乘以目标转动角度来减小目标转向角度 ）根据目标转动角度调整单元45的输入转矩T乘以目标输出角度θpm。（C）版权所有：（C）2007，JPO＆INPIT

公开(公告)号：JP2012183906A

公开(公告)日：2012-09-27

申请号：JP2011048009

申请日：2011-03-04

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

Inventor： LIMPIBUNTERNG THEERAWAT ,  TSUCHIYA YOSHIAKI ,  INOUE TAKESHI

IPC: B62D6/00 ,  B62D5/04 ,  B62D101/00 ,  B62D113/00 ,  B62D117/00 ,  B62D119/00

Abstract: PROBLEM TO BE SOLVED: To start or resume track control while a vehicle behavior is stabilized without causing a driver to feel a feeling of strangeness, discomfort or anxiety.SOLUTION: A cruise control system for a vehicle including a variable track control device that can change a track of the vehicle irrespective of a steering input operated by the vehicle driver includes: a track control means for controlling the variable track control device so that the track of the vehicle is set as a target track; a steering speed detecting means for detecting a steering speed of the vehicle; a permission means for permitting the execution of the track control by the track control means according to the target track when the detected steering speed is lower than a reference speed in a time period that is longer than a reference time; and a setting means for setting the reference speed so that the reference speed is lowered as the vehicle speed is increased, and also setting the reference time so that the reference time is extended longer as the vehicle speed is increased.

Abstract translation: 要解决的问题：在车辆行为稳定时开始或恢复跟踪控制，而不会导致驾驶员感到陌生，不适或焦虑的感觉。 解决方案：一种用于车辆的巡航控制系统，包括可以改变车辆轨道的可变轨道控制装置，而与车辆驾驶员操作的转向输入无关，包括：轨道控制装置，用于控制可变轨道控制装置 将车辆的轨道设置为目标轨道; 用于检测车辆的转向速度的转向速度检测装置; 允许装置，用于当所检测的转向速度低于参考时间长于参考时间的时间段时，允许轨道控制装置根据目标轨道执行轨道控制; 以及设定装置，用于设定基准速度，使得基准速度随着车速增加而降低，并且还设置参考时间，使得基准时间随着车速增加而延长。 版权所有（C）2012，JPO＆INPIT