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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：US20220089218A1
公开(公告)日：2022-03-24
申请号：US17480779
申请日：2021-09-21
发明人： Takashi KODERA , Toru TAKASHIMA
摘要： A steering control device controls a turning motor that generates a turning force for causing turning wheels of which power transmission to and from a steering wheel is cut off to turn. The steering control device includes a first processor configured to change a steering angle ratio which is a ratio of a turning angle of the turning wheels to a steering angle of the steering wheel according to a vehicle speed through control of the turning motor and a second processor configured to change a degree of change of the steering angle ratio with respect to change of the vehicle speed according to a steering state or a vehicle state.
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公开(公告)号：US20220081023A1
公开(公告)日：2022-03-17
申请号：US17469511
申请日：2021-09-08
发明人： Junya MIYAKE , Takashi KODERA , Toru TAKASHIMA , Hidetsugu TOYAMA
摘要： A steering device includes a turning shaft, a turning motor, and a control device that controls the turning motor such that an angle capable of being converted into a turning angle of a turning wheel follows a target angle that is calculated depending on a steering state of a steering wheel. The control device executes a correction process of correcting the target angle. The control device corrects the target angle such that the degree of an increase in the target angle is slower as the target angle approaches a limit value of an angle region, when the target angle increases toward the limit value of the angle region in either of a vehicle stop state or an extremely low speed state.
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公开(公告)号：US20220289205A1
公开(公告)日：2022-09-15
申请号：US17683610
申请日：2022-03-01
IPC分类号： B60W40/105 , B60W10/20
摘要： A vehicle speed calculating device includes a vehicle speed calculating unit configured to calculate a control vehicle speed that is acquired by estimating a vehicle body speed that is a speed at which a vehicle is actually traveling, as a state variable used to control an onboard device configured to operate to realize various functions provided in the vehicle. The vehicle speed calculating unit is configured to include an extraction function of extracting at least one wheel speed acquired from at least one wheel that is assumed to be rotating in a state in which an influence causing a difference from the vehicle body speed is likely to be small, out of wheel speeds of a plurality of wheels, and a calculation function of calculating the control vehicle speed based on the at least one wheel speed extracted by the extraction function.
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公开(公告)号：US20220089214A1
公开(公告)日：2022-03-24
申请号：US17478562
申请日：2021-09-17
发明人： Takashi KODERA , Toru TAKASHIMA
摘要： A steering control device controls a reaction motor that generates a steering reaction force applied to a steering wheel of which power transmission to and from turning wheels is cut off. the steering control device includes: a first processor configured to change a virtual operation range of the steering wheel according to a steering state or a vehicle state by controlling the reaction motor; and a second processor configured to change a degree of change of the virtual operation range of the steering wheel according to the steering state or the vehicle state when an operation position of the steering wheel reaches a position in a vicinity of a limit position of the virtual operation range.
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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：US20210300464A1
公开(公告)日：2021-09-30
申请号：US17211501
申请日：2021-03-24
发明人： Takashi KODERA , Toru TAKASHIMA , Shunsuke YOSHIDA
IPC分类号： B62D5/04
摘要： A steering control device configured to control a steering device includes a control unit. The control unit is configured to calculate a torque command value which is a target value of the motor torque based on execution of angle control for adjusting a convertible angle which is able to be converted to a rotation angle of the motor to a target angle; calculate the motor control signal based on the torque command value; and change a control gain which is used for the angle control based on a change of a factor influencing a behavior of a vehicle in response to steering.
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公开(公告)号：US20220081025A1
公开(公告)日：2022-03-17
申请号：US17473570
申请日：2021-09-13
发明人： Yusuke KAKIMOTO , Takashi KODERA , Yoshio KUDO
摘要： A steering control device includes an electronic control unit configured to calculate a target reaction torque that is a target value of a steering reaction force that is a force against steering input to a steering unit and to control operation of a steering-side motor provided in the steering unit such that a motor torque corresponding to the target reaction torque is generated. The electronic control unit is configured to calculate an angle axial force, as an axial component based on an axial force acting on a turning shaft that operates to turn turning wheels, the angle axial force being an axial force in which road-surface information is not reflected, and the angle axial force being determined according to an angle convertible to a turning angle of the turning wheels. The electronic control unit is configured to perform a guard process such that the angle axial force is not excessive.
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公开(公告)号：US20210053610A1
公开(公告)日：2021-02-25
申请号：US16998288
申请日：2020-08-20
发明人： Takashi KODERA , Yoshio KUDO
摘要： A steering control system includes a central processing unit. The central processing unit calculates a plurality of types of axial forces acting on the turning shaft based on a state quantity. The central processing unit calculates a distributed axial force which is used to calculate the command value by summing the plurality of types of axial forces at predetermined distribution proportions. The central processing unit calculates the axial forces to have hysteresis with change of the state quantity. The hysteresis of each axial force is adjusted to approach hysteresis of one specific axial force out of the plurality of types of axial forces.
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公开(公告)号：US20200283059A1
公开(公告)日：2020-09-10
申请号：US16801867
申请日：2020-02-26
发明人： Takashi KODERA , Isao NAMIKAWA , Yusuke KAKIMOTO , Yoshio KUDO
IPC分类号： B62D5/04
摘要： A steering control device for a steering system includes an electronic control unit configured to: calculate target torque that is a target value of the motor torque; control operation of the motor; calculate a vehicle speed basic axial force based on a detected vehicle speed; calculate another state quantity basic axial force based on a state quantity other than the detected vehicle speed; calculate a distributed axial force by adding the vehicle speed basic axial force and the other state quantity basic axial force at individually set distribution ratios; calculate the target torque based on the distributed axial force; and reduce the distribution ratio of the vehicle speed basic axial force when the detected vehicle speed is abnormal as compared to when the detected vehicle speed is normal.
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