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公开(公告)号：US06619422B2
公开(公告)日：2003-09-16
申请号：US10000133
申请日：2001-12-04
申请人： Shinji Takeuchi , Toshihiro Takahashi , Minekazu Momiyama , Eiichi Ono , Shoji Asai , Hiroshi Kuroyanagi
发明人： Shinji Takeuchi , Toshihiro Takahashi , Minekazu Momiyama , Eiichi Ono , Shoji Asai , Hiroshi Kuroyanagi
IPC分类号： B62D504
CPC分类号： B62D5/0463 , B62D5/0472 , B62D6/008
摘要： A power steering apparatus is provided to generate an assistant force corresponding to a change of viscous friction in the steering unit or the like, without losing information on reaction force from a road surface. An external force calculation portion calculates an external force, that is, a force other than a force for steering (i.e. a steering force) among forces (action forces) acting on the steering unit of a vehicle. The external force is assumed to be composed of an outside force received from the road surface, such as an SAT (self-aligning torque), and an internal drag resulting from a viscous friction generated in the steering unit, and the like and these two forces are separated in an outside force and internal drag calculation portion. In separating these two forces, under the assumption that the outside force is a function of a side slip angle and an internal drag is a function of a steering angular velocity, and coefficients of functions are obtained. On the basis of the thus calculated internal drag, a motor control portion controls a motor so as to generate an adequate assistant force.
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公开(公告)号：US06983816B2
公开(公告)日：2006-01-10
申请号：US10824538
申请日：2004-04-15
IPC分类号： B62D5/00
CPC分类号： B62D6/008 , B62D5/006 , B62D5/0469
摘要： A steer-by-wire steering apparatus for a vehicle includes an elastic member couples a reaction force actuator to a steering wheel. With respect to the elastic member, a side closer to the steering wheel is referred to as a primary side, and a side closer to the reaction force actuator is referred to as a secondary side. A steering wheel position detector is located at the secondary side. Therefore, the apparatus is capable of giving a feel of a steering reaction force equivalent to an ordinary mechanically connected steering apparatus to an operator and secures stability of a control system.
摘要翻译： 用于车辆的线控转向转向装置包括将反作用力致动器联接到方向盘的弹性构件。 相对于弹性构件，将更靠近方向盘的一侧称为初级侧，将更靠近反作用力致动器的一侧称为次级侧。 方向盘位置检测器位于次级侧。 因此，该装置能够向操作者提供与普通机械连接的转向装置相当的转向反作用力的手感，并且确保控制系统的稳定性。
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公开(公告)号：US07034483B2
公开(公告)日：2006-04-25
申请号：US10859359
申请日：2004-06-03
IPC分类号： H02P7/00
摘要： A controller of a steer-by-wire steering apparatus determines whether voltage applied to a steering motor in accordance with a current command value has reached a predetermined voltage. Based on the result, the controller selects one of the value of an actual current through the steering motor and a current command value. Based on the selected current value, an axial force applied to a steering rod is estimated. Based on the estimated axial force, a counter torque motor is controlled. Therefore, An error or oscillation occurring in the estimated steering axial force is prevented, and the driver is suppressed from further turning the steering wheel when the voltage applied to the steering motor is saturated.
摘要翻译： 线控转向转向装置的控制器确定根据当前指令值施加到转向电动机的电压是否已经达到预定电压。 基于该结果，控制器选择通过转向电动机的实际电流的值中的一个和当前指令值。 基于所选择的电流值，估计施加到转向杆的轴向力。 基于估计的轴向力，控制逆转矩电动机。 因此，防止在估计的转向轴向力中发生的错误或振动，并且当施加到转向电动机的电压饱和时，抑制驾驶员进一步转向方向盘。
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公开(公告)号：US20050017664A1
公开(公告)日：2005-01-27
申请号：US10859359
申请日：2004-06-03
IPC分类号： B62D5/00 , B62D5/04 , B62D6/00 , B62D113/00 , B62D119/00 , H02P7/00
摘要： A controller of a steer-by-wire steering apparatus determines whether voltage applied to a steering motor in accordance with a current command value has reached a predetermined voltage. Based on the result, the controller selects one of the value of an actual current through the steering motor and a current command value. Based on the selected current value, an axial force applied to a steering rod is estimated. Based on the estimated axial force, a counter torque motor is controlled. Therefore, An error or oscillation occurring in the estimated steering axial force is prevented, and the driver is suppressed from further turning the steering wheel when the voltage applied to the steering motor is saturated.
摘要翻译： 线控转向转向装置的控制器确定根据当前指令值施加到转向电动机的电压是否已经达到预定电压。 基于该结果，控制器选择通过转向电动机的实际电流的值中的一个和当前指令值。 基于所选择的电流值，估计施加到转向杆的轴向力。 基于估计的轴向力，控制逆转矩电动机。 因此，防止在估计的转向轴向力中发生的错误或振动，并且当施加到转向电动机的电压饱和时，抑制驾驶员进一步转向方向盘。
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公开(公告)号：US07222008B2
公开(公告)日：2007-05-22
申请号：US10724997
申请日：2003-12-02
IPC分类号： B62D6/00
CPC分类号： H02P5/69 , B62D5/003 , B62D5/0403 , B62D5/0484 , H02P21/00
摘要： The present invention relates to a steering control apparatus for maintaining operating characteristics which do not change from when conditions are normal and when an impairment occurs. The apparatus includes a plurality of motors for driving a steered wheel and a plurality of ECUs, each associated with one of the motors. When the steering control apparatus is operating normally, a torque command representing torque required to turn the steered wheel is generated. The torque command is divided in accordance with the number of motors. Each of the ECUs control the associated motors in accordance with a corresponding one of the distributed torques.
摘要翻译： 本发明涉及一种转向控制装置，用于维持从条件正常和发生损害时不改变的运行特性。 该装置包括用于驱动转向轮和多个ECU的多个电动机，每个ECU与一个电动机相关联。 当转向控制装置正常运行时，产生表示转向转向轮所需扭矩的转矩指令。 转矩指令根据电机数量进行分配。 每个ECU根据分布式扭矩中相应的一个来控制相关联的电动机。
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公开(公告)号：US07418326B2
公开(公告)日：2008-08-26
申请号：US11261560
申请日：2005-10-31
申请人： Shoji Ogawa , Yoshiyuki Shibata , Hiroshi Kuroyanagi , Shoji Asai
发明人： Shoji Ogawa , Yoshiyuki Shibata , Hiroshi Kuroyanagi , Shoji Asai
IPC分类号： B62D5/04
CPC分类号： B62D6/008
摘要： In a steer-by-wire system 10, a first steering reaction force made-up value (Hc1) is determined in dependence on a road reaction force (W), and a second steering reaction force made-up value (Hc2) is determined in dependence on a steering position (X) of a steering handle 11 or steerable wheels 50. A steering reaction force command value (H) is generated from both of the first steering reaction force made-up value (Hc1) and the second steering reaction force made-up value (Hc2) the weightings on which are adjusted by respective weighting gains (G1, G2), and the ratio of the weighting gains is properly altered in dependence on the state of a road surface. Thus, it can be realized to provide the steer-by-wire system 10 capable of adjusting the steering reaction force to be sensitive or insensitive to the state of the road surface.
摘要翻译： 在线控转向系统10中，根据道路反作用力（W）和第二转向反作用力补偿值（Hc 2）确定第一转向反作用力补偿值（Hc 1） 取决于转向手柄11或可转向轮50的转向位置（X）。 从第一转向反作用力补偿值（Hc 1）和第二转向反作用力补偿值（Hc 2）的两者产生转向反作用力指令值（H），加权值由相应的加权 增益（G 1，G 2），加权增益的比例根据路面的状态适当改变。 因此，可以实现提供能够将转向反作用力调节为对路面状态敏感或不敏感的线控转向系统10。
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公开(公告)号：US20070169984A1
公开(公告)日：2007-07-26
申请号：US11261560
申请日：2005-10-31
申请人： Shoji Ogawa , Yoshiyuki Shibata , Hiroshi Kuroyanagi , Shoji Asai
发明人： Shoji Ogawa , Yoshiyuki Shibata , Hiroshi Kuroyanagi , Shoji Asai
IPC分类号： B62D5/00
CPC分类号： B62D6/008
摘要： In a steer-by-wire system 10, a first steering reaction force made-up value (Hc1) is determined in dependence on a road reaction force (W), and a second steering reaction force made-up value (Hc2) is determined in dependence on a steering position (X) of a steering handle 11 or steerable wheels 50. A steering reaction force command value (H) is generated from both of the first steering reaction force made-up value (Hc1) and the second steering reaction force made-up value (Hc2) the weightings on which are adjusted by respective weighting gains (G1, G2), and the ratio of the weighting gains is properly altered in dependence on the state of a road surface. Thus, it can be realized to provide the steer-by-wire system 10 capable of adjusting the steering reaction force to be sensitive or insensitive to the state of the road surface.
摘要翻译： 在线控转向系统10中，根据道路反作用力（W）和第二转向反作用力补偿值（Hc 2）确定第一转向反作用力补偿值（Hc 1） 根据转向手柄11或可转向轮50的转向位置（X）来确定。从第一转向反作用力构成值（Hc 1）和第二转向反作用力构成值（Hc 1）两者产生转向反作用力指令值（H） 第二转向反作用力补偿值（Hc 2）通过各自的加权增益（G 1，G 2）进行调整的加权，并且根据路面的状态适当地改变加权增益的比例。 因此，可以实现提供能够将转向反作用力调节为对路面状态敏感或不敏感的线控转向系统10。
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公开(公告)号：US20120197496A1
公开(公告)日：2012-08-02
申请号：US13500025
申请日：2010-10-05
IPC分类号： B62D6/00
CPC分类号： B62D15/025 , B62D1/286 , B62D6/04
摘要： A vehicle control apparatus that controls a vehicle provided with a steering force applying device capable of applying steering force to induce a change in a steering angle of a steered wheel to the steered wheel, includes a difference detecting device that detects a positional difference that determines a relative positional relationship between a target running path to be maintained and the vehicle; a determining device that determines a control amount of the steering force applying device based on the detected positional difference; a controller that maintains a running path of the vehicle on the target running path by controlling the steering force applying device according to the determined control amount; a steering input detecting device that detects a steering input to a steering input device by a driver; and a correcting device that corrects a determining reference of the control amount of the steering force applying device such that, when a steering input is detected while the running path is maintained on the target running path, this steering input is reflected.
摘要翻译： 一种车辆控制装置，其控制具备能够施加转向力以引导转向轮到转向轮的转向角的转向力的转向力施加装置的车辆，包括差异检测装置，其检测位置差异， 要保持的目标行驶路径与车辆之间的相对位置关系; 确定装置，其基于检测到的位置差确定转向力施加装置的控制量; 控制器，其通过根据所确定的控制量控制所述转向力施加装置来将所述车辆的行进路径保持在所述目标行驶路径上; 转向输入检测装置，其检测驾驶员对转向输入装置的转向输入; 以及校正装置，其校正转向力施加装置的控制量的确定基准，使得当在行驶路径保持在目标行驶路径上时检测到转向输入时，该转向输入被反映。
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公开(公告)号：US08762005B2
公开(公告)日：2014-06-24
申请号：US13496978
申请日：2011-06-24
CPC分类号： B62D6/00 , B62D5/005 , B62D5/008 , B62D5/0472 , B62D7/159 , B62D15/025
摘要： In control of a vehicle that is provided with a steering torque supply device that supplies a steering torque to a steering device coupled to a steered wheel and a steering transmission ratio variation device that changes a steering transmission ratio, the control includes: setting a target state quantity for keeping the vehicle in a target lane; controlling the steering transmission ratio variation device so that a state quantity of the vehicle becomes the set target state quantity; controlling the steering torque supply device so that a steering reaction restriction torque that restricts a steering reaction torque generated in the steering device is supplied with the steering device as the steering torque when the vehicle is kept within the target lane; and correcting the steering reaction restriction torque on the basis of a steering input when the steering input from a driver of the vehicle is produced.
摘要翻译： 在设置有转向扭矩供给装置的车辆的控制中，转向扭矩供给装置向与转向车轮连接的转向装置供给转向转矩，转向转矩传递比改变装置改变转向传动比时，控制包括：设定目标状态 将车辆保持在目标车道的数量; 控制所述转向传动比变更装置，使得所述车辆的状态量成为所设定的目标状态量; 控制转向扭矩供给装置，使得当车辆保持在目标车道内时，限制转向装置中产生的转向反作用力矩的转向反作用力矩被提供给转向装置作为转向转矩; 以及当产生来自车辆驾驶员的转向输入时，基于转向输入来校正转向反作用力矩。
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公开(公告)号：US20120123643A1
公开(公告)日：2012-05-17
申请号：US13387589
申请日：2010-08-02
IPC分类号： B62D6/00
CPC分类号： B62D1/286 , B62D5/008 , B62D15/025
摘要： A driving support apparatus of a vehicle supports driving of the vehicle, the vehicle includes a rudder angle varying device capable of changing a relative relation between a steering angle and a rudder angle. The driving support apparatus includes a following control device for controlling the rudder angle varying device such that the vehicle follows a target driving route; a steering angle specifying device for specifying the steering angle; and a judging device for judging whether or not overriding performed by a driver takes place on the basis of the specified steering angle and a reference steering angle which is the steering angle in making the vehicle follow the target driving route. The following control device stops the vehicle following for the target driving route if it is judged that the overriding takes place.
摘要翻译： 车辆的驾驶辅助装置支撑车辆的行驶，车辆包括能够改变转向角和方向舵角之间的相对关系的方向舵角度变化装置。 驾驶辅助装置包括用于控制舵角变化装置的后续控制装置，使得车辆遵循目标驾驶路线; 用于指定转向角的转向角指定装置; 以及判断装置，用于基于指定的转向角和作为使车辆跟随目标行驶路线的转向角的基准转向角来判断是否进行驾驶员的超驰。 如果判定出现超限，则下列控制装置停止目标驾驶路线的车辆跟随。
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