CN103129635B - For the control convenience of electric boosting steering system - Google Patents
For the control convenience of electric boosting steering system Download PDFInfo
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- CN103129635B CN103129635B CN201210473329.0A CN201210473329A CN103129635B CN 103129635 B CN103129635 B CN 103129635B CN 201210473329 A CN201210473329 A CN 201210473329A CN 103129635 B CN103129635 B CN 103129635B
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- steering
- calculating
- auxiliary
- torque
- angular velocity
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Power Steering Mechanism (AREA)
Abstract
For a control convenience for electric boosting steering system, described control convenience comprises: auxiliary quantity computer device, and it is for calculating auxiliary torque as auxiliary quantity, and described auxiliary torque has the value corresponding to the steering torque detected; Motor drive, it is for driving electro-motor to produce the auxiliary quantity calculated; And steering state device for calculating, it is at least calculating steering state amount based on the steering torque detected and the steering angular velocity detected, described steering state amount represents the steering state of vehicle.According to the steering state amount calculated by described steering state device for calculating, described auxiliary quantity computer device changes the value of the auxiliary quantity calculated by auxiliary quantity computer device.
Description
Technical field
The present invention relates to a kind of control convenience for electric boosting steering system, electric boosting steering system utilizes the steering operation of electro-motor to vehicle driver to assist.
Background technology
The control convenience of known a kind of electric boosting steering system, this control convenience runs the auxiliary quantity of the steering operation calculating vehicle driver with the steering torque caused based on the steering operation due to vehicle driver, and setting adjustment gain is to adjust auxiliary quantity, makes auxiliary quantity increase along with the increase of deflection angle.According to this control convenience, the burden that bearing circle is turned over large angle by chaufeur can be alleviated.For example, referring to Japanese Patent Application Laid-Open No.2000-43742.
But the steering state of vehicle not only depends on deflection angle but also depends on steering torque and steering angular velocity (cireular frequency of deflection angle).Therefore, when auxiliary quantity only adjusts based on deflection angle, may occur turning to sense for the factitious situation of vehicle driver.
Summary of the invention
Illustrative embodiments provides a kind of control convenience for electric boosting steering system, and described electric boosting steering system comprises: input shaft, and described input shaft is attached to the bearing circle of vehicle to rotate together with described bearing circle; Transmission of rotation device, described transmission of rotation device is used for by the transmission of rotation of described input shaft to the drive wheel of described vehicle, thus described drive wheel is turned to; Steering speed detecting means, described steering speed detecting means for detect in rotational direction put on described input shaft moment of torsion as steering torque; And electro-motor, described electro-motor produces the auxiliary torque that will put on described input shaft or described transmission of rotation device, with the operation of bearing circle described in auxiliary rotary,
Described control convenience comprises:
Auxiliary quantity computer device, described auxiliary quantity computer device is for calculating auxiliary torque as auxiliary quantity, and described auxiliary torque has the value corresponding to the pass the steering torque that described steering speed detecting means detects;
Motor drive, described motor drive is for driving described electro-motor to produce the auxiliary quantity calculated by described auxiliary quantity computer device;
Steering angular velocity detecting device, described steering angular velocity detecting device for detecting the velocity of rotation of the described deflection angle of described bearing circle as steering angular velocity, and
Steering state device for calculating, described steering state device for calculating is used at least calculating steering state amount based on the steering torque detected by described steering speed detecting means and by the steering angular velocity that steering angular velocity detecting device calculates, described steering state amount represents the steering state of vehicle
Wherein,
According to the steering state amount calculated by described steering state device for calculating, described auxiliary quantity computer device changes the value of the auxiliary quantity calculated by described auxiliary quantity computer device.
Illustrative embodiments of the present invention also provides a kind of control convenience of the electric boosting steering system for vehicle, and described control convenience comprises:
Auxiliary quantity computer device, described auxiliary quantity computer device is for calculating auxiliary torque as auxiliary quantity, and described auxiliary torque has the value corresponding to the steering torque putting on bearing circle, and described auxiliary quantity is used for the operation of the described bearing circle of vehicle described in auxiliary rotary;
Motor drive, described motor drive is for driving the electro-motor of described electric boosting steering system to produce the auxiliary quantity calculated by described auxiliary quantity computer device;
Steering angular velocity detecting device, described steering angular velocity detecting device for detecting the velocity of rotation of the described deflection angle of described bearing circle as steering angular velocity, and
Steering state device for calculating, described steering state device for calculating is used at least calculating steering state amount based on the steering torque detected by described steering speed detecting means and by the steering angular velocity that steering angular velocity detecting device calculates, described steering state amount represents the steering state of vehicle
Wherein,
According to the steering state amount calculated by described steering state device for calculating, described auxiliary quantity computer device changes the value of the auxiliary quantity calculated by described auxiliary quantity computer device.
According to illustrative embodiments, provide a kind of control convenience for electric boosting steering system, it can the steering operation of assisting vehicle chaufeur, suitably reflects the intention of chaufeur.
By the hereafter description comprising accompanying drawing and claim, other advantages of the present invention and feature will become apparent.
Accompanying drawing explanation
In accompanying drawing:
Fig. 1 is the diagram of the schematic structure that electric boosting steering system is shown, this system comprises the ECU as the control convenience according to embodiment of the present invention; And
Fig. 2 shows the block diagram being included in the schematic structure of the ECU in electric boosting steering system according to embodiment of the present invention.
Detailed description of the invention
Fig. 1 is the diagram of the schematic structure that EPS (electric boosting steering system) 1 is shown, EPS comprises the ECU (electronic control unit) 15 as the control convenience according to embodiment of the present invention.
EPS 1 is the system utilizing the moment of torsion produced by electro-motor 6 to carry out the operation of the bearing circle 2 of the rotation vehicle of assisting vehicle chaufeur.Bearing circle 2 is fixed on one end of steering shaft 3.The other end of steering shaft 3 is connected with one end of torque sensor 3, and torque sensor 3 is connected with axle 5 between two parties at its other end place.
Torque sensor 4 is the sensors for measuring steering torque.More specifically, torque sensor 4 comprises torsion bar steering shaft 3 being attached to axle 5 between two parties, and detects based on this angle turning round torsion of bar the moment of torsion putting on this torsion bar.
Motor 6 for generation of the moment of torsion of assisting the steering effort of bearing circle 2 is provided with worm gear at one end place of its turning cylinder.This worm gear engages with the snail dish be arranged in axle 5 between two parties.Therefore, the transmission of rotation of motor 6 axle 5 extremely between two parties.On the other hand, when axle 5 is between two parties due to the steering operation of vehicle driver or road surface reaction and when rotating, this transmission of rotation, to motor 6, makes motor 6 rotate.
Axle 5 is connected to torque sensor 4 at its one end place between two parties, and is connected to steering box 7 at its other end.Steering box 7 is made up of unshowned gear mechanism, this gear mechanism rack-and-pinion.The tooth of tooth bar engages with the miniature gears in the other end being arranged on axle 5 between two parties.Therefore, when vehicle driver's steering wheel rotation 2, axle 5 rotates together with miniature gears between two parties, and tooth bar is to the right or to left movement.Pull bar 8 is fitted in the two ends of tooth bar, thus to the right or to left movement to pull or to promote track arm 9 together with tooth bar, thus change the direction of tire 10.
The predetermined portions of vehicle is provided with steering angle sensor 11 and car speed sensor 12, steering angle sensor 11 is for detecting the deflection angle θ s of bearing circle 2, and car speed sensor 12 is for detecting vehicle velocity V.Therefore, when vehicle driver's steering wheel rotation 2, the rotation of bearing circle 2 via steering shaft 3, torque sensor 4 and between two parties axle 5 transfer to steering box 7.The rotation of axle 5 is between two parties converted to the cross motion of pull bar 8 in steering box 7 (move right or to left movement), thus tire 10 is turned to.
Electric power steering ECU15 (hereinafter referred to as EPSECU15) relies on the electric power from unshowned Vehicular battery to operate, with based on the steering torque Ts detected by rotation direction sensor 4 and the deflection angle θ s generation current instruction detected by steering angle sensor 11, this current-order represents the value of the electric current by being supplied to motor 6.By applying to correspond to the driving voltage Vd of current-order to motor 6, motor 6 produces auxiliary torque with assisting vehicle chaufeur steering wheel rotation 2 and therefore auxiliary turning to tire 10.
The driving voltage Vd that EPSECU15 is used for by controlling to put on motor 6 controls motor 6.That is, the direct controlled object of EPSECU15 is motor 6.But, cause control EPS mechanism 70 (mechanism of EPS1), so the controlled object of EPSECU15 or EPS mechanism 70 owing to controlling motor 6.EPS mechanism 70 comprises all parts shown in Fig. 1 except EPSECU15 and motor 6.That is, EPS mechanism 70 is the whole mechanisms in order to transmit the parts of steering effort from bearing circle 2 to tire 10 comprising bearing circle 2, tire 10 and occupy between bearing circle 2 and tire 10.
Next, the inner structure (control mechanism) of EPSECU15 is described.As shown in Figure 2, EPSECU15 comprises target auxiliary torque calculating part 20, deviation calculating part 30, current control division 40 and motor drive circuit 50.The corresponding module of target auxiliary torque calculating part 20, deviation calculating part 30 and current control division 40 is implemented by control program, and described control program is performed by unshowned CPU included in EPSECU15.That is, from the module of target auxiliary torque calculating part 20 to current control division 40 are the functional modules implemented by executive control program.But these modules can be implemented by hardware such as decision circuit.
Based on steering torque Ts and deflection angle θ s, target auxiliary torque calculating part 20 calculates target auxiliary torque (target current).Deviation calculating part 30 calculate as current deviation by target auxiliary torque calculating part 20 calculate target current and actual flow to motor 6 actual current Im between difference.Based on described current deviation and described actual current Im, the instruction of current control division 40 calculating current, described current-order represents the current value that will be supplied to motor 6.According to described current-order, motor drive circuit 50 is to motor 6 delivered current (in fact, applying voltage to motor 6).
Although not shown, in motor drive circuit 50 or from motor drive circuit 50, guide the circuit paths of motor 6 testing circuit be provided with for detecting actual current Im into.
Target auxiliary torque calculating part 20 comprises phase compensator 21, steering state amount calculator 22, basic aided solving device 23 and multiplier 24.Phase compensator 21 couples of steering torque Ts apply phase compensation, in order to stablize whole control system (control mechanism).Based on steering torque Ts and deflection angle θ s, steering state amount calculator 22 calculates steering state amount.Basic aided solving device 23 calculates the basic auxiliary torque of the base value as target auxiliary torque.By the phase compensation exported from phase compensator 21 moment of torsion being multiplied by the basic auxiliary torque exported from basic aided solving device 23, multiplier 24 calculates the end value of target auxiliary torque (target current).
More specifically, basic aided solving device 23 comprises auxiliary mapping 23m, auxiliary mapping 23m shows the value relation between steering state amount and auxiliary torque gain, and basic aided solving device 23 determines basic auxiliary torque by the value relation enterprising line linearity interpolation shown in this auxiliary mapping 23m.In this embodiment, described value pass is: auxiliary torque gain increases with the increase of steering state amount.
Steering state amount calculator 22 comprises multiplier 61 and 63, differentiation operator 62, amplifier 64 and 65 and adder 66.Multiplier 61 exports the value that steering torque Ts is multiplied by deflection angle θ s.Based on the transient change of deflection angle θ s, differentiation operator 62 calculates steering angular speed omega s.The value exported from multiplier 61 is amplified with predetermined adjustment gain alpha by amplifier 64.The value exported from multiplier 63 is amplified with predetermined adjustment gain beta by amplifier 65.By summing up by the value exported from amplifier 64 with from the value that amplifier 65 exports, adder calculates steering state amount.Therefore, steering state amount calculator 22 exports steering state amount, and described steering state amount is illustrated by following expression: α × Ts × θ s+ β × Ts × ω s.
Amplifier 64 includes mapping, and this mapping illustrates the value relation between adjustment gain alpha and vehicle velocity V, and utilizes this mapping calculation to adjust gain alpha.Amplifier 65 comprises mapping, and this mapping illustrates the value relation between adjustment gain beta and vehicle velocity V, and utilizes this mapping calculation to adjust gain beta.
Based on the current deviation calculated by deviation calculating part 30, current control division 40 produces the electric current supply instruction being used for the electric current supply of motor 6 being carried out to controlled reset, makes current deviation become 0, that is, make actual current Im keep equaling target current.More specifically, current control division 40 comprises the current controller 40 as PI controller (proportional-plus-integral controller), and by performing proportional integral (PI) computing, calculating current supplies instruction to current controller 40.In this embodiment, except current deviation, current controller 41 receives the signal representing actual current Im, with the calculating current supply instruction when considering actual current Im.In fact, electric current supply instruction represents the value of the driving voltage by putting on motor 6, and according to this electric current supply instruction, motor drive circuit 50 performs the electric current supply to motor 6, makes the electric current with the value represented by electric current supply instruction flow to motor 6.
The EPS 1 with said structure operates into and makes: based on the steering torque Ts detected by torque sensor 4, and target auxiliary torque calculating part 20 calculates target current according to steering torque, and this target current represents the value of target auxiliary torque; Motor drive circuit 50 is according to the target current CD-ROM drive motor 6 calculated.In addition, steering torque sensor 11 detects deflection angle θ s, and differentiation operator 62 calculates steering angular speed omega s, and based on steering torque Ts and steering angular speed omega s, steering state amount calculator 22 calculates steering state amount.In addition, based on the steering state amount calculated, target auxiliary torque calculating part 20 changes the value of the target current representing target auxiliary torque.
According to described embodiment, due to the steering state amount that basis calculates based on steering torque Ts and steering angular speed omega s, the value of target auxiliary torque (target current) changes, so not only based on steering torque Ts but also the value changing target auxiliary torque based on steering angular velocity, thus the auxiliary control more suitably reflecting driver intention can be realized.
In addition, according to described embodiment, employ auxiliaryly map 23m owing to calculating the value of α × ts × θ s+ β × ts × ω s as steering state amount, in auxiliary mapping 23m, auxiliary torque gain is defined as along with the increase of steering state amount and increases, so target auxiliary torque can be made to increase along with the increase of steering angular speed omega s.Therefore, when the state that vehicle driver starts to remain on certain angle from bearing circle 2 sharp steering wheel rotation 2 time, target auxiliary torque can be increased rapidly.That is, according to described embodiment, due to compared with when slow steering wheel rotation 2, when steering wheel rotation 2 sharp, vehicle driver can with less power direction of operating dish 2, so can meet the expectation of vehicle driver's steering wheel rotation 2 rapidly.
Therefore, present embodiment makes it possible to the steering operation of assisting vehicle chaufeur, thus bearing circle 2 is not stable and bearing circle 2 can be rotated rapidly by with little strength when should sharply be rotated during rotation at bearing circle 2.
In addition, when vehicle driver stops operating bearing circle 2, because target assist torque reduces, so bearing circle 2 easily can be remained on the position of expectation by vehicle driver gradually along with the reduction of steering angular speed omega s.
Present embodiment not only calculates steering state amount based on steering torque Ts and steering angular speed omega s but also based on deflection angle θ s.In addition, present embodiment calculates the value of α × Ts × θ s+ β × Ts × ω s as steering state amount, and uses auxiliary mapping 23m, and in auxiliary mapping 23m, auxiliary torque gain is defined as along with the increase of steering state amount and increases.When the deflection angle of vehicle driver's augment direction dish 2 gradually, deflection angle θ s increases gradually, and steering angular speed omega s is little simultaneously.Therefore, in the case, because the contribution of steering angular speed omega s to steering state amount is little, and target auxiliary angle increases gradually along with the increase of deflection angle θ s, so the deflection angle of the easy augment direction dish 2 gradually of vehicle driver.
Each in the amplifier 64 and 65 of target auxiliary torque calculating part 20 all calculates adjustment gain alpha or β according to vehicle velocity V.Therefore, because steering state amount changes according to vehicle velocity V, so can suitably calculate basic auxiliary torque when considering vehicle velocity V.
Such as, when vehicle low cruise and therefore bearing circle often rapidly or when rotating significantly, the burden of driver's operation bearing circle can be alleviated by increasing adjustment gain alpha and β.On the other hand, when vehicle high-speed motion and therefore bearing circle infrequently rapidly or when rotating significantly, can by reducing adjustment gain alpha and β stablize turning to of vehicle, thus the increase of suppression auxiliary torque.
In the nature of things, multiple remodeling can be carried out to above-mentioned embodiment as described below.
In the above-described embodiment, the value of α × Ts × θ s+ β × Ts × ω s exports as steering state amount.But α × Ts+ β × θ s+ γ × ω s or α × Ts+ β × θ s × ω s also can export as steering state amount, wherein, γ is adjustment gain.In the case, at least one adjustment in gain alpha, β and γ can calculate when considering vehicle velocity V.
Preferred implementation explained above is the example of the invention of the application, and the invention of the application is described by means of only hereafter claims.Should be appreciated that those of ordinary skill in the art can retrofit to preferred implementation.
Claims (3)
1. for a control convenience for electric boosting steering system, described electric boosting steering system comprises: input shaft, and described input shaft is attached to the bearing circle of vehicle to rotate together with described bearing circle; Transmission of rotation device, described transmission of rotation device is used for by the transmission of rotation of described input shaft to the drive wheel of described vehicle, thus described drive wheel is turned to; Steering speed detecting means, described steering speed detecting means for detect in rotational direction put on described input shaft moment of torsion as steering torque; And electro-motor, described electro-motor produces the auxiliary torque that will put on described input shaft or described transmission of rotation device, with the operation of bearing circle described in auxiliary rotary,
Described control convenience comprises:
Auxiliary quantity computer device, described auxiliary quantity computer device is for calculating auxiliary torque as auxiliary quantity, and described auxiliary torque has the value corresponding to the pass the steering torque that described steering speed detecting means detects;
Motor drive, described motor drive is for driving described electro-motor to produce the auxiliary quantity calculated by described auxiliary quantity computer device;
Steering angular velocity detecting device, described steering angular velocity detecting device for detecting the velocity of rotation of the described deflection angle of described bearing circle as steering angular velocity, and
Steering state device for calculating, described steering state device for calculating is used at least calculating steering state amount based on the steering torque detected by described steering speed detecting means and by the described steering angular velocity that described steering angular velocity detecting device calculates, described steering state amount represents the steering state of vehicle
Wherein,
According to the described steering state amount calculated by described steering state device for calculating, described auxiliary quantity computer device changes the value of the auxiliary quantity calculated by described auxiliary quantity computer device,
Described electric boosting steering system also comprises deflection angle detecting device, described deflection angle detecting device for detecting the deflection angle of described bearing circle,
Based on the steering torque detected by described steering speed detecting means, by the steering angular velocity of described steering angular velocity detecting device calculating and the deflection angle by described deflection angle detecting device detection, described steering state device for calculating calculates described steering state amount, and
Described steering state device for calculating is calculated as follows value as described steering state amount: described value is the first adjustment gain, the product and second of described steering torque and described deflection angle adjusts gain, the sum of products of described steering torque and described steering angular velocity.
2. the control convenience for electric boosting steering system according to claim 1, wherein,
Described electric boosting steering system also comprises vehicle speed detector device, described vehicle speed detector device for detecting the speed of described vehicle, and
According to the speed of the vehicle detected by described vehicle speed detector device, described steering state device for calculating calculates the value of at least one in described first adjustment gain and described second adjustment gain.
3., for a control convenience for the electric boosting steering system of vehicle, described control convenience comprises:
Auxiliary quantity computer device, described auxiliary quantity computer device is for calculating auxiliary torque as being used for the auxiliary quantity of operation of bearing circle of vehicle described in auxiliary rotary, and described auxiliary torque has the value corresponding to the steering torque putting on described bearing circle;
Motor drive, described motor drive is for driving the electro-motor of described electric boosting steering system to produce the auxiliary quantity calculated by described auxiliary quantity computer device;
Steering angular velocity detecting device, described steering angular velocity detecting device for detecting the velocity of rotation of the deflection angle of described bearing circle as steering angular velocity, and
Steering state device for calculating, described steering state device for calculating is used at least calculating steering state amount based on the described steering torque detected by steering speed detecting means and by the described steering angular velocity that described steering angular velocity detecting device calculates, described steering state amount represents the steering state of vehicle
Wherein,
According to the described steering state amount calculated by described steering state device for calculating, described auxiliary quantity computer device changes the value of the described auxiliary quantity calculated by described auxiliary quantity computer device,
Described electric boosting steering system comprises deflection angle detecting device, described deflection angle detecting device for detecting the deflection angle of described bearing circle,
Based on the steering torque detected by described steering speed detecting means, by the steering angular velocity of described steering angular velocity detecting device calculating and the deflection angle by described deflection angle detecting device detection, described steering state device for calculating calculates described steering state amount, and
Described steering state device for calculating is calculated as follows value as described steering state amount: described value is the first adjustment gain, the product and second of described steering torque and described deflection angle adjusts gain, the sum of products of described steering torque and described steering angular velocity.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2011-259279 | 2011-11-28 | ||
| JP2011259279A JP5494628B2 (en) | 2011-11-28 | 2011-11-28 | Electric power steering control device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103129635A CN103129635A (en) | 2013-06-05 |
| CN103129635B true CN103129635B (en) | 2015-10-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210473329.0A Expired - Fee Related CN103129635B (en) | 2011-11-28 | 2012-11-20 | For the control convenience of electric boosting steering system |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JP5494628B2 (en) |
| CN (1) | CN103129635B (en) |
| DE (1) | DE102012219260A1 (en) |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE112012007208B4 (en) | 2012-12-07 | 2018-03-01 | Toyota Jidosha Kabushiki Kaisha | Driving assistance device, operation detection device and control device |
| JP6032161B2 (en) | 2013-09-04 | 2016-11-24 | トヨタ自動車株式会社 | Steering device and steering control device |
| JP5915680B2 (en) * | 2014-03-20 | 2016-05-11 | トヨタ自動車株式会社 | Steering control device |
| JP5915681B2 (en) * | 2014-03-20 | 2016-05-11 | トヨタ自動車株式会社 | Steering intention determination device and vehicle control device |
| JP6398301B2 (en) * | 2014-05-09 | 2018-10-03 | 藤倉化成株式会社 | Adsorption / detachment device |
| JP6369440B2 (en) * | 2014-10-21 | 2018-08-08 | トヨタ自動車株式会社 | Vehicle steering assist device |
| CN106394651A (en) * | 2016-06-27 | 2017-02-15 | 海特汽车科技（苏州）有限公司 | EPS (electric power steering) control device and self-adaptive phase compensation method thereof |
| JP6760569B2 (en) * | 2016-09-16 | 2020-09-23 | 日立オートモティブシステムズ株式会社 | Vehicle control device, vehicle control method and electric power steering device |
| US10889320B2 (en) * | 2017-08-07 | 2021-01-12 | Mando Corporation | Electric power-assisted steering apparatus and method of controlling the same |
| JP7342738B2 (en) * | 2020-03-09 | 2023-09-12 | ニデック株式会社 | Control device, control method, and motor module used in electric power steering equipment |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1657352A (en) * | 2004-02-16 | 2005-08-24 | 株式会社电装 | Electric steering device with auto-steering function |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3528614B2 (en) * | 1998-07-30 | 2004-05-17 | 三菱自動車工業株式会社 | Power steering device |
| JP4539154B2 (en) * | 2004-04-21 | 2010-09-08 | 日産自動車株式会社 | Electric power steering device |
| JP4556775B2 (en) * | 2005-06-14 | 2010-10-06 | 日産自動車株式会社 | Vehicle steering system |
| JP5003228B2 (en) * | 2007-03-23 | 2012-08-15 | トヨタ自動車株式会社 | Electric power steering device |
| JP5045222B2 (en) * | 2007-05-07 | 2012-10-10 | 株式会社ジェイテクト | Electric power steering device |
-
2011
- 2011-11-28 JP JP2011259279A patent/JP5494628B2/en not_active Expired - Fee Related
-
2012
- 2012-10-22 DE DE201210219260 patent/DE102012219260A1/en not_active Withdrawn
- 2012-11-20 CN CN201210473329.0A patent/CN103129635B/en not_active Expired - Fee Related
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1657352A (en) * | 2004-02-16 | 2005-08-24 | 株式会社电装 | Electric steering device with auto-steering function |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2013112119A (en) | 2013-06-10 |
| DE102012219260A1 (en) | 2013-05-29 |
| CN103129635A (en) | 2013-06-05 |
| JP5494628B2 (en) | 2014-05-21 |
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