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公开(公告)号：US20230125769A1
公开(公告)日：2023-04-27
申请号：US17972017
申请日：2022-10-24
发明人： Kazuma HASEGAWA , Yuji FUJITA , Takashi KODERA , Isao NAMIKAWA , Atsushi ISHIHARA , Masaharu YAMASHITA , Kenji SHIBATA , Yuko GOTO , Hiroki TOMIZAWA , Nobuyori NAKAJIMA
IPC分类号： B60W30/182 , B60W50/08 , B60W50/029 , B60W50/02 , B60W10/20
摘要： A control device includes control circuits of a plurality of systems. When a transition condition is established, the control circuits of the systems make transition of a driving mode from a first driving mode to a second driving mode, and when a return condition is established in a state in which the driving mode has transitioned to the second driving mode, the control circuits of the systems make transition of the driving mode from the second driving mode to the first driving mode while gradually changing the current command values of the control circuits’ own systems toward the current command values before the adjustment.
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公开(公告)号：US20220332364A1
公开(公告)日：2022-10-20
申请号：US17695017
申请日：2022-03-15
发明人： Amane YAJIMA , Yoshio KUDO , Koji ANRAKU , Isao NAMIKAWA , Kenji YOSHIDA
摘要： In a reaction torque calculation process, an electronic control unit included in a steer-by-wire steering device is configured to calculate a distributed axial force obtained by distributing an angle axial force and an electric current axial force based on a final distribution ratio. The reaction torque calculation process includes at least one of a first abnormal-time process and a second abnormal-time process. The first abnormal-time process is executed to hold, for calculation of the angle axial force, a vehicle speed signal value immediately before the vehicle speed signal becomes abnormal. The second abnormal-time process is executed to hold, for calculation of a normal-time distribution ratio, a vehicle speed signal value immediately before the vehicle speed signal becomes abnormal or hold a value of the normal-time distribution ratio immediately before the vehicle speed signal becomes abnormal, and then gradually change the final distribution ratio to an abnormal-time distribution ratio.
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公开(公告)号：US20210323599A1
公开(公告)日：2021-10-21
申请号：US17220014
申请日：2021-04-01
发明人： Tetsuya MORINO , Yoshio KUDO , Isao NAMIKAWA , Takashi KODERA
摘要： The steering control system of a steer-by-wire vehicle includes a turning angle calculation unit for calculating a target turning angle based on a steering angle of a steering wheel, and a reaction torque calculation unit for calculating a target reaction torque based on a state of the vehicle. When an alert request is issued, the reaction torque calculation unit calculates a basic reaction torque based on the steering angle, calculates an alert reaction torque for notifying a vehicle state, and calculates the target reaction torque obtained by summing the basic reaction torque and the alert reaction torque. In a process of calculating the target turning angle from the steering angle, the turning angle calculation unit calculates the target turning angle by excluding a steering angle or a turning angle corresponding to the alert reaction torque.
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公开(公告)号：US20200298908A1
公开(公告)日：2020-09-24
申请号：US16821799
申请日：2020-03-17
发明人： Isao NAMIKAWA , Koji ANRAKU , Yusuke KAKIMOTO , Yoshio KUDO
摘要： A steering device includes: a mechanism configured to turn turning wheels of a vehicle; a motor configured to generate drive force that is applied to the mechanism; and a controller configured to control the motor in accordance with a steering state. The controller includes a determination circuit configured to determine whether or not one of the turning wheels is in contact with an obstacle based on at least a value of electric current that is supplied to the motor and a vehicle speed. The controller is configured to, when one of the turning wheels is in contact with the obstacle, notify a driver that one of the turning wheels is in contact with the obstacle.
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公开(公告)号：US20230033288A1
公开(公告)日：2023-02-02
申请号：US17872508
申请日：2022-07-25
发明人： Satoshi MATSUDA , Isao NAMIKAWA , Koji ANRAKU , Tomoyuki IIDA , Masaharu YAMASHITA , Kenji SHIBATA
摘要： A steering control device includes a base axial force calculator, a limiting axial force calculator, and a final axial force calculator. The limiting axial force calculator includes a steering angle holder, a reference angle calculator, a final difference calculator, and an axial force calculator. The steering angle holder is configured to hold a steering angle at the time of limiting a turning operation of the turning wheels when the turning operation is limited. The reference angle calculator is configured to calculate a reference angle. The final difference calculator is configured to calculate a final difference which is a final difference between the reference angle and the current steering angle. The axial force calculator is configured to calculate a limiting axial force based on a value of the final difference.
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公开(公告)号：US20200298901A1
公开(公告)日：2020-09-24
申请号：US16821665
申请日：2020-03-17
发明人： Koji ANRAKU , Isao NAMIKAWA , Yusuke KAKIMOTO , Yoshio KUDO , Tetsuya MORINO
摘要： In a controller for a steering device, the steering device includes a structure where motive power transmission between a steering unit and a turning unit is separated. The controller includes a control circuit configured to control operation of a steering-side motor that is provided in the steering unit to give steering reaction force that is force against the steering input into the steering unit. In a case where turning of the turning wheels to one direction is restricted, the control circuit is configured to calculate restriction reaction force for restricting steering that is to turn the turning wheels to the one direction. The control circuit is configured to calculate the restriction reaction force based on information on the steering unit.
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公开(公告)号：US20200269903A1
公开(公告)日：2020-08-27
申请号：US16790514
申请日：2020-02-13
发明人： Koji ANRAKU , Isao NAMIKAWA , Yusuke KAKIMOTO , Yoshio KUDO
摘要： A steering control device includes an electronic control unit. The electronic control unit controls operation of a steering-side motor so as to apply a steering reaction force that resists a steering operation input to the steering wheel. The electronic control unit computes an obstruction strike reaction force for regulating a steering operation that steers a steered wheel toward an obstruction. The electronic control unit generates determination information indicating that the steered wheel is struck by an obstruction. The determination information includes first determination information indicating that the left side of the steered wheel is struck by an obstruction, and second determination information indicating that the right side of the steered wheel is struck by an obstruction. The electronic control unit sets a direction in which the obstruction strike reaction force is applied based on the generated determination information.
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公开(公告)号：US20180162445A1
公开(公告)日：2018-06-14
申请号：US15837598
申请日：2017-12-11
发明人： Isao NAMIKAWA , Takahiro TOKO , Hiromasa TAMAKI , Yuji OKUDA
摘要： A vehicle control device includes a control unit configured to execute one of a plurality of assist controls based on an input of an execution command signal that is externally given. The control unit includes a control state switching unit that executes, based on an input state of the execution command signal, switching of a control state to execute the assist control. The control state includes a first control state and a second control state, the control state being switched from one of the first and second control states to the other of the first and second control states based on the input state of the execution command signal. When one control state of the first and second control states is being executed and when execution of the other control state is commanded, the control state switching unit switches the control state such that the other control state is executed.
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公开(公告)号：US20220363305A1
公开(公告)日：2022-11-17
申请号：US17729083
申请日：2022-04-26
发明人： Hiroto SUZUKI , Isao NAMIKAWA , Yoshio KUDO , Yuki SUEHIRO , Kosuke AKATSUKA
摘要： A steering control device includes an electronic control unit. The electronic control unit is configured to calculate a target rotation angle of a shaft rotating with a turning operation of turning wheels based on a steering angle of a steering wheel acquired from a rotation angle of a reaction motor, to calculate a command value based on the target rotation angle and a steering torque acquired from a torsion angle of a torsion bar twisting with an operation of the steering wheel, and to compensate for the torsion angle by adding the torsion angle as a compensation value to the steering angle. The electronic control unit is configured to change a value of the torsion angle that is added to the steering angle according to a degree of change of a state variable used to calculate the command value.
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公开(公告)号：US20220315102A1
公开(公告)日：2022-10-06
申请号：US17707175
申请日：2022-03-29
发明人： Yuki INDEN , Isao NAMIKAWA , Yuki SUEHIRO , Yoshio KUDO
摘要： A steering control device includes a torque command value calculating unit configured to calculate a torque command value which is a target value of a motor torque when operation of a motor is controlled such that the motor torque is generated. The torque command value calculating unit includes a first component calculating unit configured to calculate a first component, a second component calculating unit configured to calculate a second component, and a torque component calculating unit configured to calculate a torque component. The first component calculating unit is configured to add a calculational hysteresis component to the first component such that hysteresis characteristics with respect to change of a specific state variable are provided. The torque component calculating unit is configured to perform calculation in a first calculation situation and calculation in a second calculation situation.
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