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公开(公告)号：US06178365B1
公开(公告)日：2001-01-23
申请号：US09151761
申请日：1998-09-11
IPC分类号： G06F1900
CPC分类号： B62D1/286 , B60T2201/08 , B60T2201/087 , B62D15/025
摘要： A system for controlling steering of a vehicle, including a steering device such as a steering wheel with an electric motor which assists steering of driven wheels of the vehicle, first steering control unit for controlling the motor, a CCD camera for detecting a lane condition of a road on which the vehicle travels, a yaw rate sensor for detecting motion of the vehicle, steering assist torque calculating unit for calculating a steering assist torque necessary for holding the lane, a torque sensor for detecting an actual steering torque manually applied to the steering device by the driver, and second steering control unit for calculating a torque command to be output to the first steering control unit based on the steering assist torque calculated by the steering assist torque calculating unit and the detected steering torque to control the actuator such that the torque command decreases. In the system, a switching device is provided for switching between modes of control by the first steering control unit and the second steering control unit gradually with respect to time, thereby ensuring to switch the mode of control smoothly and preventing the occurrence of disadvantages including that the vehicle driver experiences annoyance upon sensing a change in steering assist.
摘要翻译： 一种用于控制车辆的转向的系统，包括具有辅助车辆的从动轮的转向的电动机等方向盘的转向装置，用于控制电动机的第一转向控制单元，用于检测车辆状况的CCD摄像机 车辆行驶的道路，用于检测车辆的运动的横摆率传感器，用于计算保持车道所需的转向辅助转矩的转向辅助转矩计算单元，用于检测手动施加到转向器的实际转向转矩的转矩传感器 以及第二转向控制单元，用于基于由转向辅助转矩计算单元计算的转向辅助转矩和检测到的转向转矩来计算要输出到第一转向控制单元的转矩指令，以控制致动器，使得 转矩指令减小。 在该系统中，提供了一种开关装置，用于相对于时间逐渐地切换由第一转向控制单元和第二转向控制单元的控制模式，从而确保平滑地切换控制模式，并防止出现诸如 车辆驾驶员在感测到转向辅助的变化时经历烦恼。
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公开(公告)号：US06338015B1
公开(公告)日：2002-01-08
申请号：US09151760
申请日：1998-09-11
IPC分类号： B62D504
CPC分类号： B62D1/286 , B60T2201/08 , B60T2201/087 , B62D15/025
摘要： A system for controlling steering of a vehicle, including a steering means such as a steering wheel with an electric motor which assists steering of the driven wheels of the vehicle, first steering control means for controlling the motor, a CCD camera for detecting a lane condition of a road on which the vehicle travels, a yaw rate sensor for detecting motion of the vehicle, steering assist torque calculating means for calculating a steering assist torque necessary for holding the lane, a torque sensor for detecting an actual steering torque manually applied to the steering means by the driver, and second steering control means for calculating a torque command to be output to the first steering control means based on the steering assist torque calculated by the steering assist torque calculating means and the actual steering torque such that the torque command decreases. In the system, the second steering control means transfers to the first steering control means an index indicative of a condition under which the steering assist torque was calculated, or an index indicative of an order in which the values of the steering assist torque are tansferred, thereby ensuring appropriate and highly reliable communication between the two control means.
摘要翻译： 一种用于控制车辆的转向系统，包括诸如具有辅助车辆的从动轮的转向的电动机的转向装置的转向装置，用于控制电动机的第一转向控制装置，用于检测车道条件的CCD照相机 车辆行驶的道路的偏航率传感器，用于检测车辆的运动的偏航率传感器，用于计算保持车道所需的转向辅助转矩的转向辅助转矩计算装置，用于检测手动施加到车道的实际转向转矩的转矩传感器 以及第二转向控制装置，用于基于由转向辅助转矩计算装置计算的转向辅助转矩和实际转向转矩来计算要输出到第一转向控制装置的转矩指令，使得转矩指令减小 。 在该系统中，第二转向控制单元向第一转向控制单元转移表示计算转向辅助转矩的条件的指标，或指示转向辅助转矩的值被调整的顺序的指标， 从而确保两个控制装置之间的适当和高度可靠的通信。
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公开(公告)号：US6134491A
公开(公告)日：2000-10-17
申请号：US151759
申请日：1998-09-11
CPC分类号： B62D15/025 , B62D1/286 , B62D5/0481 , B62D5/0484 , B60T2201/08 , B60T2201/087
摘要： A system for controlling steering of a vehicle, including a steering unit having an electric motor which steers driven wheels of the vehicle, a first steering control unit (EPS ECU 76) for controlling the actuator, a CCD camera for detecting a condition of a lane on a road on which the vehicle travels, a steering assist torque determining unit for determining a steering assist torque necessary for holding a positional relationship between the vehicle and the lane condition, a torque sensor for detecting a steering torque manually applied to the steering unit by the driver, second steering control unit for calculating a torque command to be output to the first steering control unit based on the steering assist torque calculated by the steering assist torque calculating unit and the detected steering torque to control the motor such that the torque command decreases. In the system, a failure detecting unit is provided for detecting whether a failure has occurred at least in determination of the steering assist torque, and the control by the second control unit is discontinued, or is switched to the control by the first control unit when the failure is detected, thereby enabling to detect or discriminate the occurrence of failure with accuracy and to take a necessary countermeasure to cope with the failures condition.
摘要翻译： 一种用于控制车辆的转向的系统，包括具有转向车辆的从动轮的电动机的转向单元，用于控制致动器的第一转向控制单元（EPS ECU 76），用于检测车道状况的CCD照相机 在车辆行驶的道路上，用于确定保持车辆和车道状态之间的位置关系所需的转向辅助转矩的转向辅助转矩确定单元，用于检测手动施加到转向单元的转向转矩的转矩传感器， 驾驶员第二转向控制单元，用于基于由转向辅助转矩计算单元计算的转向辅助转矩和检测到的转向转矩来计算要输出到第一转向控制单元的转矩指令，以控制电动机，使得转矩指令减小 。 在该系统中，提供故障检测单元，用于至少在确定转向辅助转矩时检测是否发生了故障，并且第二控制单元的控制被中断，或者被切换到第一控制单元的控制 检测到故障，从而能够精确地检测或辨别故障的发生，并采取必要的对策来应对故障状况。
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公开(公告)号：US06898497B2
公开(公告)日：2005-05-24
申请号：US10440336
申请日：2003-05-16
申请人： Tomoaki Teramoto
发明人： Tomoaki Teramoto
CPC分类号： B62D5/046 , B62D5/0463
摘要： Electric power steering apparatus includes a steering torque detection section for detecting steering torque acting on a steering system, a motor for imparting steering assist torque to the steering system; a voltage raising circuit including a switching element to be driven by a voltage-raise controlling PWM signal; and a motor driving controller for setting a target current to be supplied to the motor on the basis of at least the detected steering torque, setting a motor-current controlling duty factor signal on the basis of the target current, operating a switching circuit on the basis of the duty factor signal to control a motor drive current, and driving the motor with the controlled current. CPU of the motor driving controller generates the PWM signal for controlling the voltage raising circuit.
摘要翻译： 电动助力转向装置包括用于检测作用于转向系统的转向转矩的转向转矩检测部，用于向转向系统赋予转向辅助转矩的电动机; 包括由升压控制PWM信号驱动的开关元件的升压电路; 至少基于检测到的转向转矩设定要提供给电动机的目标电流的电动机驱动控制装置，基于目标电流设定电动机电流控制占空系数信号，对所述转矩电路进行动作 基于占空比信号来控制电机驱动电流，并以受控电流驱动电机。 电机驱动控制器的CPU产生用于控制升压电路的PWM信号。
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