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公开(公告)号：US10703364B2
公开(公告)日：2020-07-07
申请号：US16216002
申请日：2018-12-11
Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA , DENSO CORPORATION
Inventor： Ryo Irie , Masateru Amano , Hisaya Akatsuka
Abstract: A vehicle control system that executes path-following control includes a controller. The vehicle control system is configured to determine whether or not the path-following control is to be continued based on whether or not a coordinate point with current lateral deviation speed and lateral deviation as an X coordinate and a Y coordinate, respectively, falls within an ellipse to be specified on an X-Y plane with a time as a parameter, a value of a cosine function to be obtained by time-differentiating a function of an allowable limit sine wave on an X axis, and a value of the function of the allowable limit sine wave on a Y axis.
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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
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.
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23.发明授权公开(公告)号：US10435024B2
公开(公告)日：2019-10-08
申请号：US15653343
申请日：2017-07-18
Applicant: DENSO CORPORATION
Inventor： Hisaya Akatsuka , Daiji Watanabe
Abstract: A driving support apparatus performing a plurality of driving support includes: a reliability acquiring unit that acquires each reliability of a plurality of detection apparatus, the reliability representing likelihood of a detection result of the detection apparatus; a determination unit that determines whether or not each of the detection apparatus is a high reliability apparatus determined based on a reliability threshold; a correspondence acquiring unit that acquires correspondence information representing a correspondence between combinations of the plurality of detection apparatus including information of whether or not each apparatus is a high reliability apparatus, and types of driving support to be performed; a setting unit that sets a driving support to be performed, based on a result of the determination; an executing unit that executes the driving support to be performed; and an output unit that outputs a command to allow the executing unit to execute the driving support.
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公开(公告)号：US10399592B2
公开(公告)日：2019-09-03
申请号：US15644130
申请日：2017-07-07
Applicant: DENSO CORPORATION
Inventor： Hisaya Akatsuka , Daiji Watanabe
Abstract: In a drive assist system, a map data acquiring section acquires at least one of a driver's operation ability and a load of a vehicle. An adjustment section determines an assist control amount as a control parameter of drive assist for the vehicle so that a degree of the driver's operation is increased according to reduction of the driver's operation ability or increasing of the load of the vehicle. An assist control amount calculation section transmits the assist control amount to a steering motor and a notification section so as to execute the drive assist for the vehicle.
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公开(公告)号：US10035538B2
公开(公告)日：2018-07-31
申请号：US14933971
申请日：2015-11-05
Applicant: DENSO CORPORATION
Inventor： Hisaya Akatsuka , Motoaki Kataoka , Toshiki Matsumoto , Hisashi Iida
CPC classification number: B62D5/0463 , B62D15/025
Abstract: An electric power steering system for a vehicle works to determine an assist command based on steering torque to produce assist torque through an electric motor for assisting in turning a steering wheel of the vehicle, also determines a tracking command for producing automatic steering torque which brings a value of a given physical quantity associated with steering of the vehicle into agreement a target value, and controls a response rate at which a value of a given physical quantity is brought into agreement with a target value in a feedback mode. A motor driver works to actuate an electric motor based on the sum of the assist command and the tracking command to output the torque for steering the system vehicle.
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Patent Agency Ranking
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
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.
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公开(公告)号：US09592850B1
公开(公告)日：2017-03-14
申请号：US15136738
申请日：2016-04-22
Applicant: DENSO CORPORATION
Inventor： Motoaki Kataoka , Hisaya Akatsuka
IPC: B62D5/04
CPC classification number: B62D1/286 , B62D15/025 , B62D15/0265
Abstract: A steering control apparatus includes an assist deviation calculator calculating an assist deviation, a follow deviation calculator calculating a follow deviation, a unit converter converting a measurement unit, a weighting factor setter setting a weighting factor, a deviation mixer calculating a controlled deviation by mixing the deviations, and an instruction value generator generating an assist instruction value that drives a motor to output (i) an automatic steering torque and (ii) an assist torque. The assist instruction value is generated based on the calculated controlled deviation, and by decreasing the controlled deviation in a feedback manner, so that the drive of the motor leads to a decrease of the calculated controlled deviation, thereby switching the assist and follow control without a wrong steering feeling, and without deterioration of each of assist/follow functions.
Abstract translation: 转向控制装置包括辅助偏差计算器，计算辅助偏差，跟随偏差计算器计算跟随偏差，转换测量单位的单位转换器，设定加权系数的加权因子设定器，偏差混合器， 产生用于驱动电动机输出（i）自动转向转矩和（ii）辅助转矩的辅助指令值的指令值发生器。 辅助指令值是基于计算出的控制偏差产生的，并且通过以反馈方式减小受控偏差，使得电动机的驱动导致计算出的控制偏差的减小，从而切换辅助和跟随控制，而不需要 转向感错误，辅助/追随功能各不恶化。
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公开(公告)号：US09586619B1
公开(公告)日：2017-03-07
申请号：US15043132
申请日：2016-02-12
Applicant: DENSO CORPORATION
Inventor： Hisaya Akatsuka , Motoaki Kataoka , Yasuhiko Mukai
CPC classification number: B62D15/025 , B62D1/286
Abstract: A motor controller has an assist controller generating an assist instruction for a generation of an assist torque based on a detection value of a steering torque, a follow controller obtaining a target value of a physical quantity regarding a steering operation and generating a follow instruction, and a motor driver driving, according to a sum of the assist instruction and the follow instruction, a motor that generates the assist torque and an automatic steering toque. In addition, the follow controller changes, according to a degree of intervention by a driver that is detected by an intervention detector, responsiveness of the follow control, making it possible to naturally hand over a motor control to the driver or to a system when the driver or the system intervenes a current control of the motor that generates the assist torque and/or the steering torque.
Abstract translation: 电动机控制器具有辅助控制器，其基于转向转矩的检测值产生用于产生辅助转矩的辅助指令，跟随控制器获得关于转向操作的物理量的目标值并产生跟随指令，以及 根据辅助指令和跟踪指令的总和，驱动马达驱动器，产生辅助转矩和自动转向转矩的电动机。 此外，跟随控制器根据由干预检测器检测到的驾驶员的干预程度而改变跟随控制的响应性，使得有可能自然地将电机控制切换到驾驶员或系统 驾驶员或系统干预产生辅助转矩和/或转向转矩的电动机的电流控制。
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公开(公告)号：US20160129934A1
公开(公告)日：2016-05-12
申请号：US14933971
申请日：2015-11-05
Applicant: DENSO CORPORATION
Inventor： Hisaya Akatsuka , Motoaki Kataoka , Toshiki Matsumoto , Hisashi Iida
IPC: B62D5/04
CPC classification number: B62D5/0463 , B62D15/025
Abstract: An electric power steering system for a vehicle works to determine an assist command based on steering torque to produce assist torque through an electric motor for assisting in turning a steering wheel of the vehicle, also determines a tracking command for producing automatic steering torque which brings a value of a given physical quantity associated with steering of the vehicle into agreement a target value, and controls a response rate at which a value of a given physical quantity is brought into agreement with a target value in a feedback mode. A motor driver works to actuate an electric motor based on the sum of the assist command and the tracking command to output the torque for steering the system vehicle.
Abstract translation: 用于车辆的电动助力转向系统工作以确定基于转向转矩的辅助指令，以通过用于辅助车辆转向的电动机产生辅助转矩，还确定用于产生自动转向转矩的跟踪命令， 与车辆的转向相关联的给定物理量的值与目标值一致，并且控制使给定物理量的值与反馈模式中的目标值一致的响应速率。 电机驱动器基于辅助指令和跟踪指令的总和来启动电动机，以输出用于转向系统车辆的转矩。
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公开(公告)号：US20160129933A1
公开(公告)日：2016-05-12
申请号：US14933946
申请日：2015-11-05
Applicant: DENSO CORPORATION
Inventor： Hisaya Akatsuka , Motoaki Kataoka , Toshiki Matsumoto , Hisashi Iida
IPC: B62D5/04
CPC classification number: B62D5/0463 , B62D15/025
Abstract: An electric power steering system for a vehicle works to determine an assist command based on steering torque to produce assist torque through an electric motor for assisting in turning a steering wheel of the vehicle, also determines a tracking command for producing automatic steering torque which brings a value of a given physical quantity associated with steering of the vehicle into agreement a target value, and calculates a steering correction command for use in producing a steering correction torque which reduces the steering torque which arises from output of the torque from the electric motor based on a transfer characteristic of transmission of the output of torque from the electric motor as a part of the steering torque. A motor driver works to actuate the electric motor based on sum of the assist command, the tracking command, and the steering correction command.
Abstract translation: 用于车辆的电动助力转向系统工作以确定基于转向转矩的辅助指令，以通过用于辅助车辆转向的电动机产生辅助转矩，还确定用于产生自动转向转矩的跟踪命令， 将与车辆的转向相关联的给定物理量的值与目标值相一致，并且计算用于产生转向修正转矩的转向修正指令，所述转向修正转矩基于来自电动机的扭矩的输出而减小转向转矩 作为转向转矩的一部分的来自电动机的扭矩输出的传递特性。 电机驱动器基于辅助指令，跟踪指令和转向修正命令的总和来启动电动机。
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