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公开(公告)号：US11299203B2
公开(公告)日：2022-04-12
申请号：US16007228
申请日：2018-06-13
Applicant: DENSO CORPORATION
Inventor： Shun Shimizu , Yosuke Hirate , Daiji Watanabe , Toshiya Kabayama , Hisaya Akatsuka
Abstract: In a cruise assist system, a turning angle controller executes at least one of an automatic cruise control task that automatically controls a turning angle of the vehicle, and an assist control task that controls the turning angle of the vehicle in accordance with an occupant's operation of the steering wheel. A holding determiner includes an input detector detecting an occupant's physical input to a steering shaft via a steering wheel based on at least one of a first type physical quantity and second type physical quantities. Each of the first and second physical quantities depends on rotational movement of the steering shaft. The first type physical quantity contains the occupant's physical input, and a disturbance input, which is different therefrom, to the steering shaft. The second type physical quantities have a physical relationship therebetween, which is changed depending on the occupant's physical input.
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公开(公告)号：US09988074B2
公开(公告)日：2018-06-05
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.
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公开(公告)号：US10589777B2
公开(公告)日：2020-03-17
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：US20170137056A1
公开(公告)日：2017-05-18
申请号：US15346608
申请日：2016-11-08
Applicant: DENSO CORPORATION
Inventor： Takashi Aoki , Motoaki Kataoka , Yosuke Hirate
CPC classification number: B62D5/0463 , B62D5/0466 , B62D6/008 , B62D6/10 , B62D15/0225
Abstract: A steering controller that controls a motor to output an assist torque to steer a steering member, including a steer property calculator calculating a steer state quantity that is an index of a steering state indicating one of (i) a steer-away state, (ii) a steer-back state, or (iii) a stay-still state, an adjusted torque calculator calculating an adjusted torque based on the steer state quantity, and an instruction value calculator calculating an assist torque instruction that is an instruction value regarding a drive of the motor by using the adjusted torque. In such manner, the steer state quantity, the steer-back operation, the stay-still operation of a steering wheel, and the adjusted torque are appropriately calculated, thereby enabling an appropriate adjustment of a steering feel.
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公开(公告)号：US09592848B1
公开(公告)日：2017-03-14
申请号：US14886416
申请日：2015-10-19
Applicant: DENSO CORPORATION
Inventor： Yosuke Hirate , Motoaki Kataoka
IPC: A01B69/00 , B62D6/00 , B62D11/00 , B62D12/00 , B63G8/20 , B63H25/04 , G05D1/00 , G06F7/00 , G06F17/00 , G06F19/00 , B62D5/04
CPC classification number: B62D5/0463 , B62D6/008
Abstract: An electric power steering controller adjustably generates a target steer torque dynamically by weighting (i) a load based target steer torque that is determined based on an estimated load and (ii) a steer angle based target steer torque with a weighting ratio. The weighting ratio varies depending on a condition of a road surface on which a subject vehicle is traveling, a steering state of the driver and the like, which enables an adjustment of the target steer torque to suitably accommodate the condition of the road surface and to provide a road surface conscious steering feel while achieving robustness over an influence of a friction of the mechanical components in a steering system.
Abstract translation: 电动助力转向装置通过加权（i）基于估计负载确定的基于负载的目标转向转矩和（ii）具有加权比的转向角目标转向转矩来动态地产生目标转向转矩。 加权比根据本车辆行驶的路面的状况，驾驶员的转向状态等而变化，能够调整目标转向转矩以适当地适应路面的状况，并且 在转向系统中的机械部件的摩擦力的影响下提供路面感知转向感觉，同时实现鲁棒性。
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Patent Agency Ranking
公开(公告)号：US10259489B2
公开(公告)日：2019-04-16
申请号：US15506581
申请日：2015-08-21
Applicant: DENSO CORPORATION
Inventor： Yuuichi Minamiguchi , Motoaki Kataoka , Yosuke Hirate
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.
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公开(公告)号：US09855967B2
公开(公告)日：2018-01-02
申请号：US14939716
申请日：2015-11-12
Applicant: DENSO CORPORATION
Inventor： Yosuke Hirate , Motoaki Kataoka
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.
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公开(公告)号：US10745046B2
公开(公告)日：2020-08-18
申请号：US15959655
申请日：2018-04-23
Applicant: DENSO CORPORATION
Inventor： Yosuke Hirate , Daiji Watanabe , Hisaya Akatsuka , Toshiya Kabayama
Abstract: A steering assist apparatus is provided with a steering drive unit driving a steering apparatus, a steering control unit executing an automatic steering mode where a steering drive unit is controlled such that a turning angle is determined based on at least either a running state of the vehicle or road information to produce the determined turning angle, and a target differential angle control unit determining a target differential angle. The target differential angle control unit determines the target differential angle to be close to an automatic steering target differential angle used for the automatic steering mode, when input variation through a steering input apparatus is not detected during a transition period from a manual steering mode where the steering apparatus operates in response to the steering angle inputted through the steering input apparatus to the automatic steering mode or during an elapsed period after completing the transition period.
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公开(公告)号：US10370029B2
公开(公告)日：2019-08-06
申请号：US15653327
申请日：2017-07-18
Applicant: DENSO CORPORATION
Inventor： Motoaki Kataoka , Yosuke Hirate
Abstract: A steering control apparatus controls an assistance torque outputted by a motor connected to a steering system mechanism that generates a steering torque. In the steering control apparatus, a load calculating unit estimates or detects a load acting on a steering shaft of the steering system mechanism. A target steering torque calculating unit calculates a target steering torque that is a target value of the steering torque, based on the estimated or detected load. A servo controller calculates a command value of the assistance torque such that a torque deviation that is a difference between the steering torque and the target steering torque is zero. A band correcting unit includes a band correction filter that extracts a component of a specific frequency band during a process of calculation from the load to the target steering torque, and corrects a gain of a predetermined transfer function at the extracted band.
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公开(公告)号：US10358161B2
公开(公告)日：2019-07-23
申请号：US15346608
申请日：2016-11-08
Applicant: DENSO CORPORATION
Inventor： Takashi Aoki , Motoaki Kataoka , Yosuke Hirate
Abstract: A steering controller that controls a motor to output an assist torque to steer a steering member, including a steer property calculator calculating a steer state quantity that is an index of a steering state indicating one of (i) a steer-away state, (ii) a steer-back state, or (iii) a stay-still state, an adjusted torque calculator calculating an adjusted torque based on the steer state quantity, and an instruction value calculator calculating an assist torque instruction that is an instruction value regarding a drive of the motor by using the adjusted torque. In such manner, the steer state quantity, the steer-back operation, the stay-still operation of a steering wheel, and the adjusted torque are appropriately calculated, thereby enabling an appropriate adjustment of a steering feel.
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