公开(公告)号：US20170144696A1

公开(公告)日：2017-05-25

申请号：US14951229

申请日：2015-11-24

Applicant: DENSO CORPORATION

Inventor： Yosuke Hirate ,  Motoaki Kataoka

IPC: B62D5/04

CPC classification number: B62D5/0463

Abstract: A steering control apparatus controls steering characteristics by controlling a motor to output assist torque, which is generated corresponding to a steering torque applied to a steering shaft. The steering control apparatus includes a torque deviation generator generating a torque deviation between the steering torque applied to the steering shaft and a target steering torque and a command value generator generating an assist torque command value for controlling the motor based on a basic command value. The basic command value controls the torque deviation to become zero. The command value generator includes an integrator integrating and outputting the torque deviation and an output limiter setting an output limit to an immediately previous basic command value obtained immediately before the basic command value. The output limiter generates the assist torque command value using the immediately previous basic command value to which the output limit is set.

公开(公告)号：US10654519B2

公开(公告)日：2020-05-19

申请号：US15958507

申请日：2018-04-20

Applicant: DENSO CORPORATION

Inventor： Yosuke Hirate ,  Daiji Watanabe ,  Hisaya Akatsuka ,  Toshiya Kabayama

IPC: B62D6/00 ,  B62D5/04 ,  B62D15/02 ,  B62D5/00 ,  G05D1/02 ,  B62D1/28 ,  B62D3/12

Abstract: In a steering assistance apparatus mounted in a vehicle, a steering input device and a turning device differentiate at a transmission ratio that is a ratio of an amount of change in the turning angle to an amount of change in the steering angle. A turning device actuator actuates the turning device. A controller executes an automatic steering mode, in which the controller determines the turning angle based on at least one of a travel condition and travel path information of the vehicle and controls the turning device actuator so as to achieve the determined turning angle. If detecting an input variation from the steering input device during execution of the automatic steering mode, the controller changes the transmission ratio to a value less than the transmission ratio in the automatic steering mode and prioritizes a manual steering mode over the automatic steering mode.

公开(公告)号：US20180065657A1

公开(公告)日：2018-03-08

申请号：US15685769

申请日：2017-08-24

Applicant: DENSO CORPORATION

Inventor： Yosuke Hirate ,  Daiji Watanabe ,  Hisaya Akatsuka

IPC: B62D5/04 ,  B62D5/00 ,  B62D6/00

Abstract: A motor controller of a steering control apparatus is configured to drive, based on an assist command and a tracking command, a motor to thereby generate assist torque and automatic steering torque. A state determiner of the steering control apparatus is configured to determine at least whether a driver's steering state is a biased steering state or a return steering state in accordance with a first parameter associated with steering torque based on the driver's steering, and a second parameter associated with an angular velocity of the motor. A ratio changer of the steering control apparatus is configured to change a ratio of the assist torque to the automatic steering torque in accordance with a determination result of the state determiner.

公开(公告)号：US20170253266A1

公开(公告)日：2017-09-07

申请号：US15506581

申请日：2015-08-21

Applicant: DENSO CORPORATION

Inventor： Yuuichi Minamiguchi ,  Motoaki Kataoka ,  Yosuke Hirate

IPC: B62D5/04 ,  B62D6/00

CPC classification number: B62D5/0463 ,  B62D6/00 ,  B62D6/008 ,  B62D6/02

Abstract: An electric steering control device controls a steering characteristic by outputting an assist torque using a motor, and the assist torque corresponds to a detection value of a steering torque which is applied to a steering shaft. The electric steering control device includes a steering target value generation unit generating a target value of the steering torque based on a state amount estimated from the target value of the steering torque and the assist torque, a command value generation unit generating a command value for controlling the motor to reduce a deviation between the target value of the steering torque and the detection value of the steering torque to a level lower than a predetermined threshold, and a motor drive unit driving the motor based on the command value.

公开(公告)号：US09688307B2

公开(公告)日：2017-06-27

申请号：US14874810

申请日：2015-10-05

Applicant: DENSO CORPORATION

Inventor： Motoaki Kataoka ,  Yosuke Hirate

IPC: B62D15/02 ,  B62D5/04 ,  B62D6/00

CPC classification number: B62D15/025 ,  B62D5/008 ,  B62D5/0466 ,  B62D5/0481 ,  B62D6/002

Abstract: A steering controller for controlling an electric power steering includes a load estimator estimating a road surface load, a pre-correction target determiner determining a pre-correction target steer torque based on the estimated road surface load, a steer angle detector detecting a steer angle, and a target corrector correcting the pre-correction target steer torque based on the steer angle, and the controller determines an assist torque instruction value based on the deviation between the target steer torque and a steer torque, thereby establishing a robust steering feel of an electric power steering system irrespective of the change of the mechanical friction of the power steering system.

公开(公告)号：US20170137055A1

公开(公告)日：2017-05-18

申请号：US14939716

申请日：2015-11-12

Applicant: DENSO CORPORATION

Inventor： Yosuke Hirate ,  Motoaki Kataoka

IPC: B62D5/04

CPC classification number: B62D5/0463 ,  B62D5/001 ,  B62D5/008 ,  B62D5/0466 ,  B62D6/002 ,  B62D6/008 ,  B62D6/10

Abstract: A steering control apparatus controls includes a steering quantity generation unit generating a steering quantity indicative of an operation performed on the steering member, an adjustment torque generation unit generating an adjustment torque and adjusting a mechanical impedance corresponding to the adjustment torque, and a command value generation unit generating a command value and controlling the motor according to the command value using the adjustment torque generated by the adjustment torque generation unit. The steering quantity is a physical quantity that has different values at least in a state of rotating the steering member, a state of returning the steering member, or a state of retaining the steering member, and the steering quantity indicates an operation amount of rotating the steering member or an operation amount of returning the steering member.

公开(公告)号：US20170096166A1

公开(公告)日：2017-04-06

申请号：US14874810

申请日：2015-10-05

Applicant: DENSO CORPORATION

Inventor： Motoaki Kataoka ,  Yosuke Hirate

IPC: B62D15/02 ,  B62D6/00 ,  B62D5/04

CPC classification number: B62D15/025 ,  B62D5/008 ,  B62D5/0466 ,  B62D5/0481 ,  B62D6/002

Abstract: A steering controller for controlling an electric power steering includes a load estimator estimating a road surface load, a pre-correction target determiner determining a pre-correction target steer torque based on the estimated road surface load, a steer angle detector detecting a steer angle, and a target corrector correcting the pre-correction target steer torque based on the steer angle, and the controller determines an assist torque instruction value based on the deviation between the target steer torque and a steer torque, thereby establishing a robust steering feel of an electric power steering system irrespective of the change of the mechanical friction of the power steering system.