CN107891909B - 具有抓握感测的转向补偿 - Google Patents
具有抓握感测的转向补偿 Download PDFInfo
- Publication number
- CN107891909B CN107891909B CN201710930878.9A CN201710930878A CN107891909B CN 107891909 B CN107891909 B CN 107891909B CN 201710930878 A CN201710930878 A CN 201710930878A CN 107891909 B CN107891909 B CN 107891909B
- Authority
- CN
- China
- Prior art keywords
- grip
- steering wheel
- wheel torque
- handed
- compensated
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
- B62D1/02—Steering controls, i.e. means for initiating a change of direction of the vehicle vehicle-mounted
- B62D1/04—Hand wheels
- B62D1/043—Hand wheels with a device allowing single-hand operation of the steering wheel
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/08—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to driver input torque
- B62D6/10—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to driver input torque characterised by means for sensing or determining torque
Abstract
一种用于基于抓握的方向盘补偿的系统包括净方向盘转矩力矩确定模块,其确定方向盘上左抓握与右抓握之间的净方向盘转矩力矩。该系统还包括过滤器过渡补偿模块,其应用过滤器以平滑净方向盘转矩力矩中的过渡作为偏置补偿。该系统还包括方向盘转矩补偿模块,其基于感测到的方向盘转矩与偏置补偿之间的差,确定抓握补偿方向盘转矩。
Description
技术领域
本发明涉及一种具有抓握感测的转向补偿。
背景技术
转向系统通常由工程师调整,工程师用两手以对称抓握模式(例如9/3点钟或者10/2点钟手位置)握住转向盘(也称为方向盘)。然而,在操作中,驾驶员常常为了舒适改变抓握模式,其可能导致非对称抓握模式。由于驾驶员的臂的重量以不平衡的力矩臂作用在方向盘的轮缘上,因此这种非对称抓握模式常常导致在方向盘上的偏置转矩。该偏置转矩非常类似于由底盘/轮胎不平衡导致的转向拉力。该不平衡不得不由驾驶员的手臂肌肉补偿,并且可能导致较长时间/距离上驾驶员的疲劳。
当驾驶员从双手驾驶转移到单手驾驶时,发生另一种情况。这可能由于手臂疲劳或者因为驾驶员正在用自由的手完成其它任务例如拿起饮料杯、操作信息系统等而发生。因为单手所需要的力必须被加倍以产生相同的输入轴转矩,所以对于双手驾驶所调整的转向系统可能比用单手驾驶更加显著地让人疲劳。
发明内容
一种用于基于抓握的方向盘补偿的系统包括:净方向盘转矩力矩确定模块,其确定方向盘上左抓握与右抓握之间的净方向盘转矩力矩。该系统还包括过滤器过渡补偿模块,其应用过滤器以平滑净方向盘转矩力矩中的过渡作为偏置补偿。该系统还包括方向盘转矩补偿模块,其基于感测到的方向盘转矩与偏置补偿之间的差,确定抓握补偿方向盘转矩。可以关于方向盘上的抓握面积确定抓握力或者压力。
一种转向系统包括:方向盘转矩传感器,其是可操作的以产生感测到的方向盘转矩;转向致动器马达;和控制模块。控制模块是可操作的以确定方向盘上左抓握与右抓握之间的净方向盘转矩力矩,应用过滤器以平滑净方向盘转矩力矩中的过渡作为偏置补偿,基于所述感测到的方向盘转矩与偏置补偿之间的差确定抓握补偿方向盘转矩,以及基于抓握补偿方向盘转矩控制转向致动器马达。
一种用于基于抓握的方向盘补偿的方法包括通过转向系统的控制模块,确定方向盘上左抓握与右抓握之间的净方向盘转矩力矩。应用过滤器以平滑净方向盘转矩力矩中的过渡作为偏置补偿。基于感测到的方向盘转矩与偏置补偿之间的差,确定抓握补偿方向盘转矩。
从下述结合附图所做的说明中,这些和其它优点和特征将变得更为清楚。
附图说明
被认为是本发明的主题在说明书所附的权利要求中被特别指出并明确地要求保护。从以下结合附图的详细描述中,本发明的前述和其它特征以及优点是显而易见的,在附图中:
图1是示出根据一些实施例的包括转向系统的车辆的功能方框图;
图2示出根据一些实施例的基于抓握的方向盘补偿的系统;
图3示出根据一些实施例的净方向盘转矩力矩确定模块;
图4示出根据一些实施例的方向盘转矩补偿模块;以及
图5示出根据一些实施例的基于抓握的方向盘补偿的过程。
具体实施方式
现在参考附图,将参考具体实施例来说明本发明,而不是限制本发明,示出了包括转向系统12的车辆10的示例性实施例。在各种实施例中,转向系统12包括耦接到转向轴16的方向盘14。在所示的示例性实施例中,转向系统12是电动助力转向(EPS)系统,其还包括转向辅助单元18,该转向辅助单元18耦接到转向系统12的转向轴16并且耦接到车辆10的左连结杆20和右连结杆22。例如,转向辅助单元18包括可以通过转向轴16耦接到转向致动器马达19和传动装置的齿条与齿轮转向机构(未示出)。在操作期间,当车辆操作者转动方向盘14时,转向致动器马达19提供帮助以移动左连结杆20和右连结杆22,进而又分别移动左和右转向节24、26。左转向节24被耦接到左道路车轮28,右转向节26被耦接到车辆10的右道路车轮30。
如图1所示,车辆10还包括各种传感器31-35,用于检测和测量转向系统12和/或车辆10的信号。传感器31-35基于测量到的信号生成传感器信号。在一个实施例中,提供方向盘转矩传感器31,用于感测施于方向盘14上的转矩。在所示的示例性实施例中,方向盘转矩传感器31被放置在方向盘14上,然而,可以理解的是,方向盘转矩传感器31可以不总放置在方向盘14附近或者方向盘14上。在一个实施例中,马达位置/速率传感器32感测马达位置和/或速率,方向盘转矩位置/速率传感器33感测方向盘位置和/或速率。另外,车辆10可以包括车轮速度传感器34,以辅助测量测量速度。在一些实施例中,一个或者多个抓握传感器35测量在方向盘14上各种位置处的抓握力或者压力,诸如关于方向盘14的直行位置限定的左抓握15A和右抓握15B。在替代实施例中,省略抓握传感器35,并且使用转向系统12的其它参数计算抓握大小和/或角位置值。
控制模块40基于一个或者多个传感器信号并且还基于本公开的转向控制系统和方法来控制转向系统12的操作。控制模块40基于一个或者多个输入并且还基于本公开的转向控制系统和方法来产生命令信号,以控制转向系统12的转向致动器马达19。本公开的转向控制系统和方法适应和补偿由操作方向盘14的驾驶员的抓握方式产生的力矩。
图2示出根据实施例的基于抓握的方向盘补偿的系统100。系统100包括控制模块40并且可以包括图1的一个或者多个传感器31-35。在各种实施例中,控制模块40可以包括一个或者多个子模块和数据存储,诸如净方向盘转矩力矩确定模块102、过滤器过渡补偿模块104、比例单手模块106和方向盘转矩补偿模块108。如本文所使用的,术语模块和子模块指专用集成电路(ASIC)、电子电路、执行一个或多个软件或固件程序的处理器(共享、专用或群组)和存储器、组合逻辑电路和/或提供所述功能的其它合适组件。能够理解的是,图2所示的控制模块40还可以被分割并且包括在转向控制系统技术领域中公知的额外控制元件。
可以从车辆10(图1)的传感器31-35(图1)以及其它传感器(未示出)产生控制模块40的输入。另外,可以从车辆10(图1)内的其它控制模块(未示出)中接收输入,并且可以对这些输入进行建模或者预定义。例如,可以在控制模块40处从方向盘转矩传感器31(图1)接收感测到的方向盘转矩110。可以从抓握传感器35(图1)接收或者从其它值中导出左抓握115A(图1)的左抓握大小112。可以从抓握传感器35(图1)接收或者从其它值中导出右抓握115B(图1)的右抓握大小114。可替代地,可以结合系统构成信息(例如,使用转向系统12(图1)中的质量/惯性组件的系统模型),使用来自马达位置/速率传感器32(图1)的马达位置/速率信号、来自方向盘位置/速率传感器33(图1)的方向盘位置/速率信号、和/或感测到的方向盘转矩110,来估计左抓握大小112和右抓握大小114。可以使用力或者压力传感器读数,基于方向盘14(图1)上接触的表面面积,来估计左抓握大小112和右抓握大小114。
作为另一个示例,当感测到的方向盘转矩110在可调的时间段内保持在可调的阈值之上时,可以认为驾驶员的手在方向盘14(图1)上。可以基于在一段时间上感测到的方向盘转矩110的等级,估计各种驾驶员抓握等级。感测到的方向盘转矩110在短时间段内的高值(关于转矩等级和时间阈值)可以被认作为高等级的抓握,而感测到的方向盘转矩110在较长时间段内的较低值可以表示弱抓握。通过对具体系统结构的分析和研发测试,可以得到各种各样的这种可调等级的抓握。
如在图2的示例中所示并且继续参考图1,净方向盘转矩力矩确定模块102可以基于左抓握大小112和右抓握大小114,确定方向盘14上左抓握115A与右抓握115B之间的净方向盘转矩力矩116。过滤器过渡补偿模块104可以基于左抓握大小112和右抓握大小114,施加过滤器以平滑净方向盘转矩力矩116中的过渡(transition),作为偏置补偿118。方向盘转矩补偿模块108可以基于感测到的方向盘转矩110与偏置补偿118之差,确定抓握补偿方向盘转矩120(图4)。
比例单手模块106可以确定增益补偿122,以调节在单手抓握与双手抓握方向盘转向模式之间的抓握补偿方向盘转矩120的缩放比例。比例单手模块106可以基于落在抓握大小阈值之下的左抓握大小112或右抓握大小114,确定单手抓握方向盘转向模式是激活的(active)。在一些实施例中,通过比例单手模块106,在单手抓握与双手抓握方向盘转向模式之间的检测到的变化导致增益变化。增益补偿122可以是左抓握大小112和右抓握大小114的较低值的函数。例如,可以通过比例单手模块106来过滤增益补偿122,以平滑在单手操作与双手操作之间的抓握补偿方向盘转矩120的缩放比例的过渡。方向盘转矩补偿模块108可以将增益补偿122乘以抓握补偿方向盘转矩120,以产生抓握和单手补偿方向盘转矩124,如图4所示。可以基于抓握补偿方向盘转矩120和/或抓握和单手补偿方向盘转矩124,控制转向致动器马达19(图1)。
图3更为详细地示出净方向盘转矩力矩确定模块102的示例。在图3的示例中,基于方向盘14(图1)关于直行位置的的左抓握15A(图1)的左抓握角位置113和右抓握15B(图1)的右抓握角位置115,确定净方向盘转矩力矩116。可以基于抓握传感器35(图1)和方向盘位置/速率传感器33(图1)的读数,确定左抓握角位置113和右抓握角位置115。还基于响应于手臂重量的标称测量和左抓握角位置113、右抓握角位置115和方向盘14的几何结构的左力矩126和右力矩128,确定净方向盘转矩力矩116。通过关于左抓握大小112来比例缩放左抓握角位置113,例如作为左抓握大小112和基于左抓握角位置113的偏移的乘积,比例和计算左力矩模块202可以产生左力矩126。通过关于右抓握大小114来比例缩放右抓握角位置115,例如作为右抓握大小114和基于右抓握角位置115的偏移的乘积,比例和计算右力矩模块204可以产生右力矩128。左和右抓握角位置113、115(从垂直的角度)和方向盘14的半径使得分别能够计算左力矩126和右力矩128。依赖于抓握是完全的还是虚弱的(其可以表示是否手臂的全部重量被传递到方向盘14的轮缘),左抓握大小112和右抓握大小114可以被用于缩放。净方向盘转矩力矩116可以被计算为左力矩126与右力矩128之间的差。
图5示出基于抓握的方向盘补偿的过程300。还参考图1-图4来说明过程300。在方块302处,控制模块40的净方向盘转矩力矩模块102确定方向盘14上左抓握15A与右抓握15B之间的净方向盘转矩力矩116。在方块304处,应用过滤器(例如,通过过滤器过渡补偿模块104)以平滑净方向盘转矩力矩116的过渡,作为偏置补偿118。在方块306处,基于感测到的方向盘转矩110与偏置补偿118之间的差,确定抓握补偿方向盘转矩120(例如通过方向盘转矩补偿模块108)。在方块308处,应用单手缩放比例(例如通过方向盘转矩补偿模块108)作为对抓握补偿方向盘转矩120的增益补偿122(例如,从比例单手模块106),以调节在单手抓握与双手抓握方向盘转向模式之间的抓握补偿方向盘转矩120的缩放比例,并且产生抓握和单手补偿方向盘转矩124。单手缩放比例可以是例如当在单手抓握与双手抓握之间切换时被过滤以平滑抓握补偿方向盘转矩120的缩放比例中的过渡的增益补偿122。在用于控制转向系统12的转向致动器马达19的控制模块40的控制算法中,可以代替感测到的方向盘转矩110,使用抓握和单手补偿方向盘转矩124作为补偿值,由此补偿与方向盘14上10/2或者9/3点钟处期望的双手抓握模式不同的各种抓握模式和单/双手操作。
虽然已经结合仅仅有限数量的实施例详细描述了本发明,但是应当容易地理解,本发明不限于这些公开的实施例。相反,本发明可以被修改为包括迄今为止未描述但与本发明的精神和范围相称的任何数量的变化、变更、替代或等同布置。另外,虽然已经描述了本发明的各种实施例,但是应当理解,本发明的各方面可以仅仅包括所描述实施例中的一些。因此,本发明不被视为受前述描述所限制。
Claims (18)
1.一种用于基于抓握的方向盘补偿的系统,所述系统包括:
净方向盘转矩力矩确定模块,确定方向盘上左抓握与右抓握之间的净方向盘转矩力矩;
过滤器过渡补偿模块,应用过滤器以平滑所述净方向盘转矩力矩中的过渡,作为偏置补偿;
比例单手模块,其确定增益补偿,以调节单手抓握与双手抓握方向盘转向模式之间的所述抓握补偿方向盘转矩的缩放比例;
方向盘转矩补偿模块,基于感测到的方向盘转矩与所述偏置补偿之间的差,确定抓握补偿方向盘转矩,以及将所述增益补偿乘以所述抓握补偿方向盘转矩,以产生抓握和单手补偿方向盘转矩;以及
控制模块,基于所述抓握补偿方向盘转矩以及所述抓握和单手补偿方向盘转矩控制致动器马达。
2.根据权利要求1所述的系统,其中,所述比例单手模块基于落在抓握大小阈值之下的所述左抓握或所述右抓握的大小,确定所述单手抓握方向盘转向模式是激活的。
3.根据权利要求2所述的系统,其中,所述增益补偿是所述左抓握和所述右抓握的所述大小的较低值的函数,并且所述增益补偿被过滤以平滑所述抓握补偿方向盘转矩的所述缩放比例的过渡。
4.根据权利要求1所述的系统,其中,基于所述方向盘关于直行位置的左抓握角位置和右抓握角位置,确定所述净方向盘转矩力矩。
5.根据权利要求4所述的系统,其中,还基于响应于手臂重量的标称测量和所述左抓握角位置、所述右抓握角位置和所述方向盘的几何结构的左力矩和右力矩,确定所述净方向盘转矩力矩。
6.根据权利要求5所述的系统,其中,所述左力矩是所述左抓握的大小和基于所述左抓握角位置的偏移的乘积,并且所述右力矩是所述右抓握的大小和基于所述右抓握角位置的偏移的乘积。
7.一种用于基于抓握的方向盘补偿的方法,所述方法包括:
通过转向系统的控制模块,确定方向盘上左抓握与右抓握之间的净方向盘转矩力矩;
应用过滤器以平滑所述净方向盘转矩力矩中的过渡作为偏置补偿;
确定增益补偿,以调节单手抓握与双手抓握方向盘转向模式之间的所述抓握补偿方向盘转矩的缩放比例;
基于感测到的方向盘转矩与所述偏置补偿之间的差,确定抓握补偿方向盘转矩,以及将所述增益补偿乘以所述抓握补偿方向盘转矩,以产生抓握和单手补偿方向盘转矩;以及
基于所述抓握补偿方向盘转矩以及所述抓握和单手补偿方向盘转矩控制致动器马达。
8.根据权利要求7所述的方法,还包括:
将单手缩放比例应用于所述抓握补偿方向盘转矩,以调节在单手抓握与双手抓握方向盘转向模式之间的所述抓握补偿方向盘转矩的缩放比例作为抓握和单手补偿方向盘转矩,其中所述单手缩放比例是被过滤以平滑所述抓握补偿方向盘转矩的所述缩放比例的过渡的增益补偿。
9.根据权利要求8所述的方法,还包括:
基于落在抓握大小阈值之下的所述左抓握或所述右抓握的大小,确定所述单手抓握方向盘转向模式是激活的。
10.根据权利要求7所述的方法,其中,基于所述方向盘关于直行位置的左抓握角位置和右抓握角位置,确定所述净方向盘转矩力矩。
11.根据权利要求7所述的方法,其中,还基于响应于手臂重量的标称测量和所述左抓握角位置、所述右抓握角位置和所述方向盘的几何结构的左力矩和右力矩,确定所述净方向盘转矩力矩。
12.根据权利要求11所述的方法,其中,所述左力矩是所述左抓握的大小和基于所述左抓握角位置的偏移的乘积,并且所述右力矩是所述右抓握的大小和基于所述右抓握角位置的偏移的乘积。
13.一种转向系统,包括:
方向盘转矩传感器,是可操作的以产生感测到的方向盘转矩;
转向致动器马达;和
控制模块,是可操作的以确定方向盘上左抓握与和右抓握之间的净方向盘转矩力矩,应用过滤器以平滑所述净方向盘转矩力矩中的过渡作为偏置补偿,确定增益补偿以调节单手抓握与双手抓握方向盘转向模式之间的所述抓握补偿方向盘转矩的缩放比例,基于感测到的方向盘转矩和与所述偏置补偿之间的差来确定抓握补偿方向盘转矩,将所述增益补偿乘以所述抓握补偿方向盘转矩以产生抓握和单手补偿方向盘转矩,以及基于所述抓握补偿方向盘转矩以及所述抓握和单手补偿方向盘转矩来控制所述转向致动器马达。
14.根据权利要求13所述的转向系统,其中所述控制模块是可操作的,以基于落在抓握大小阈值之下的左抓握或者右抓握的大小,确定所述单手抓握方向盘转向模式是激活的。
15.根据权利要求14所述的转向系统,其中,所述增益补偿是所述左抓握和所述右抓握的所述大小的较低值的函数,并且所述增益补偿被过滤以平滑所述抓握补偿方向盘转矩的所述缩放比例的过渡。
16.根据权利要求13所述的转向系统,其中,基于方向盘关于直行位置的左抓握角位置和右抓握角位置,确定所述净方向盘转矩力矩。
17.根据权利要求16所述的转向系统,其中,还基于响应于手臂重量的标称测量和所述左抓握角位置、所述右抓握角位置和所述方向盘的几何结构的左力矩和右力矩,确定所述净方向盘转矩力矩。
18.根据权利要求17所述的转向系统,其中,所述左力矩是所述左抓握的大小和基于所述左抓握角位置的偏移的乘积,并且所述右力矩是所述右抓握的大小和基于所述右抓握角位置的偏移的乘积。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US15/283,628 US10399591B2 (en) | 2016-10-03 | 2016-10-03 | Steering compensation with grip sensing |
US15/283,628 | 2016-10-03 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN107891909A CN107891909A (zh) | 2018-04-10 |
CN107891909B true CN107891909B (zh) | 2021-03-26 |
Family
ID=61623407
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201710930878.9A Active CN107891909B (zh) | 2016-10-03 | 2017-10-09 | 具有抓握感测的转向补偿 |
Country Status (3)
Country | Link |
---|---|
US (1) | US10399591B2 (zh) |
CN (1) | CN107891909B (zh) |
DE (1) | DE102017122558B4 (zh) |
Families Citing this family (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2907730B1 (en) | 2014-01-29 | 2017-09-06 | Steering Solutions IP Holding Corporation | Hands on steering wheel detect |
DE102016110791A1 (de) | 2015-06-15 | 2016-12-15 | Steering Solutions Ip Holding Corporation | Gestensteuerung für ein einfahrbares Lenkrad |
US10112639B2 (en) | 2015-06-26 | 2018-10-30 | Steering Solutions Ip Holding Corporation | Vehicle steering arrangement and method of making same |
US10029725B2 (en) | 2015-12-03 | 2018-07-24 | Steering Solutions Ip Holding Corporation | Torque feedback system for a steer-by-wire vehicle, vehicle having steering column, and method of providing feedback in vehicle |
DE102017108692A1 (de) | 2016-04-25 | 2017-10-26 | Steering Solutions Ip Holding Corporation | Steuerung einer elektrischen Servolenkung unter Verwendung von Systemzustandsvorhersagen |
US10160477B2 (en) | 2016-08-01 | 2018-12-25 | Steering Solutions Ip Holding Corporation | Electric power steering column assembly |
US10384708B2 (en) | 2016-09-12 | 2019-08-20 | Steering Solutions Ip Holding Corporation | Intermediate shaft assembly for steer-by-wire steering system |
US10239552B2 (en) | 2016-10-14 | 2019-03-26 | Steering Solutions Ip Holding Corporation | Rotation control assembly for a steering column |
US10481602B2 (en) | 2016-10-17 | 2019-11-19 | Steering Solutions Ip Holding Corporation | Sensor fusion for autonomous driving transition control |
US10310605B2 (en) | 2016-11-15 | 2019-06-04 | Steering Solutions Ip Holding Corporation | Haptic feedback for steering system controls |
US10780915B2 (en) | 2016-12-07 | 2020-09-22 | Steering Solutions Ip Holding Corporation | Vehicle steering system having a user experience based automated driving to manual driving transition system and method |
US10449927B2 (en) | 2017-04-13 | 2019-10-22 | Steering Solutions Ip Holding Corporation | Steering system having anti-theft capabilities |
US20200014316A1 (en) * | 2018-07-03 | 2020-01-09 | Boyd Randolph Hobbs | Simulated Mass Rotation Systems and Methods |
JP7066582B2 (ja) * | 2018-09-12 | 2022-05-13 | 本田技研工業株式会社 | 判定システム、車両制御システム、車両、判定方法、及びプログラム |
Family Cites Families (323)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6140043Y2 (zh) | 1979-03-10 | 1986-11-15 | ||
JPS565269A (en) | 1979-06-25 | 1981-01-20 | Toyota Motor Corp | Steering device |
JPS5833569A (ja) | 1981-08-21 | 1983-02-26 | Aisin Seiki Co Ltd | 車上姿勢制御装置 |
US4503300A (en) | 1983-08-03 | 1985-03-05 | Dana Corporation | Control assembly with multi-axis mounting connection |
JPS60157963A (ja) | 1984-01-30 | 1985-08-19 | Nippon Denso Co Ltd | ステアリングホイ−ル位置自動調整装置 |
JPH0737771B2 (ja) | 1984-02-07 | 1995-04-26 | 日産自動車株式会社 | スロツトル制御装置 |
JPS60164629A (ja) | 1984-02-07 | 1985-08-27 | Nissan Motor Co Ltd | スロツトル制御装置 |
US4561323A (en) | 1984-02-09 | 1985-12-31 | American Motors Corporation | Adjustable steering column assembly and mechanism therefor |
US4691587A (en) | 1985-12-20 | 1987-09-08 | General Motors Corporation | Steering column with selectively adjustable and preset preferred positions |
US4921066A (en) | 1986-05-23 | 1990-05-01 | Refuse Trucks, Inc. | Dual control driving system |
JPH0529979Y2 (zh) | 1987-04-17 | 1993-07-30 | ||
US4836566A (en) | 1988-06-08 | 1989-06-06 | General Motors Corporation | Four-wheel steering system |
US5240284A (en) | 1989-06-07 | 1993-08-31 | Fuji Kiko Company, Limited | Steering column assembly with horizontal position adjustment mechanism |
JP2768034B2 (ja) | 1991-03-28 | 1998-06-25 | 日産自動車株式会社 | 車両用舵角制御装置 |
US5319803A (en) | 1991-05-20 | 1994-06-07 | Allen Dillis V | Steering wheel assembly with communication keyboard |
JPH05162652A (ja) | 1991-12-10 | 1993-06-29 | Mitsubishi Motors Corp | ステアリングハンドルの中立点推定方法 |
JP2776102B2 (ja) | 1991-12-11 | 1998-07-16 | 日産自動車株式会社 | 車両用安全装置 |
US5488555A (en) | 1993-05-27 | 1996-01-30 | Ford Motor Company | Method and apparatus for four wheel steering control |
GB9317983D0 (en) | 1993-08-28 | 1993-10-13 | Lucas Ind Plc | A driver assistance system for a vehicle |
US5469356A (en) | 1994-09-01 | 1995-11-21 | Caterpillar Inc. | System for controlling a vehicle to selectively allow operation in either an autonomous mode or a manual mode |
KR960033968A (ko) | 1995-03-22 | 1996-10-22 | 배순훈 | 자동차의 충격완화용 압축식 핸들 |
DE19523214C2 (de) | 1995-06-27 | 1997-04-24 | Bosch Gmbh Robert | Verstellvorrichtung |
DE19524196C1 (de) | 1995-07-03 | 1996-11-14 | Daimler Benz Ag | Längsverstellvorrichtung an einem Mantelrohrteleskop einer Lenkspindel in einem Kraftfahrzeug |
US5719766A (en) * | 1995-10-02 | 1998-02-17 | General Motors Corporation | Electric power steering control |
US5668721A (en) | 1995-10-02 | 1997-09-16 | General Motors Corporation | Electric power steering motor control |
US6373472B1 (en) | 1995-10-13 | 2002-04-16 | Silviu Palalau | Driver control interface system |
US6170862B1 (en) | 1996-05-22 | 2001-01-09 | Unique Technologies, L.P. | Motor vehicle steering column safety device |
US5893580A (en) | 1996-05-22 | 1999-04-13 | Hoagland; Larry D. | Motor vehicle steering column safety device |
DE19731314A1 (de) | 1997-07-16 | 1999-01-28 | Petri Ag | Lenkrad mit Airbagmodul |
US5911789A (en) | 1997-08-13 | 1999-06-15 | General Motors Corporation | Linear actuator for motor vehicle steering column |
DE19755044C1 (de) | 1997-12-11 | 1999-03-04 | Daimler Benz Ag | Fahrzeuglenkung |
US6477464B2 (en) | 2000-03-09 | 2002-11-05 | Donnelly Corporation | Complete mirror-based global-positioning system (GPS) navigation solution |
US7080855B2 (en) | 1998-05-11 | 2006-07-25 | Thyssenkrupp Presta Ag | Safety steering column, motor vehicle with a safety system and safety method |
US6301534B1 (en) | 1998-05-19 | 2001-10-09 | The Texas A&M University System | Method and system for vehicle directional control by commanding lateral acceleration |
US6212453B1 (en) | 1998-09-11 | 2001-04-03 | Honda Giken Kogyo Kabushiki Kaisha | Vehicle steering control system |
JP3571234B2 (ja) | 1998-10-12 | 2004-09-29 | 本田技研工業株式会社 | 車両用操舵制御装置 |
WO2000034106A1 (en) | 1998-12-09 | 2000-06-15 | Delphi Technologies, Inc. | A vehicle steering command module with an adjustable steering rim diameter |
DE19923012A1 (de) | 1999-05-20 | 2000-11-23 | Zahnradfabrik Friedrichshafen | Lenkvorrichtung und Lenkverfahren |
JP3791253B2 (ja) | 1999-08-30 | 2006-06-28 | スズキ株式会社 | トルク検出装置 |
US6227571B1 (en) | 1999-11-03 | 2001-05-08 | Trw Vehicle Safety Systems Inc. | Telescoping vehicle steering column apparatus for helping to protect a vehicle driver |
EP1246746B1 (en) | 1999-12-29 | 2010-02-17 | Delphi Technologies, Inc. | Method and system for improving motor vehicle stability incorporating an electric power steering system |
NL1014912C2 (nl) | 2000-04-11 | 2001-10-12 | Skf Eng & Res Centre Bv | Handregelmiddelen. |
US6390505B1 (en) | 2000-04-19 | 2002-05-21 | International Truck Intellectual Property Company, L.L.C. | Steering column adjustment system using force feedback system |
IT1320394B1 (it) | 2000-06-05 | 2003-11-26 | Fiat Ricerche | Sistema per il controllo attivo di un differenziale di un autoveicolo. |
US6481526B1 (en) | 2000-11-13 | 2002-11-19 | Delphi Technologies, Inc. | Steer-by-wire handwheel actuator incorporating mechanism for variable end-of-travel |
JP2002160658A (ja) * | 2000-11-27 | 2002-06-04 | Koyo Seiko Co Ltd | パワーステアリング装置 |
JP3649119B2 (ja) | 2000-12-12 | 2005-05-18 | 日産自動車株式会社 | レーンキープアシスト制御装置 |
DE10101827A1 (de) | 2001-01-17 | 2002-07-18 | Daimler Chrysler Ag | Lenkanordnung für Kraftfahrzeuge |
KR100421423B1 (ko) | 2001-02-10 | 2004-03-09 | 한국과학기술원 | 반능동 구동기를 이용한 전기 조향 장치 |
US6575263B2 (en) | 2001-04-26 | 2003-06-10 | Eaton Corporation | Torque device for electronic steer-by wire steering systems |
US6817437B2 (en) | 2001-06-19 | 2004-11-16 | Delphi Technologies, Inc. | Steer-by wire handwheel actuator |
FR2828856B1 (fr) | 2001-08-22 | 2003-12-05 | Sai Automotive Allibert Ind | Dispositif destine a masquer les jeux entre une planche de bord et un element d'habillage lie a une colonne de direction reglable |
JP3789791B2 (ja) | 2001-09-05 | 2006-06-28 | 株式会社ジェイテクト | 絶対位置検出装置及び絶対位置検出方法 |
US6942057B2 (en) | 2001-11-21 | 2005-09-13 | Delphi Technologies, Inc. | Feel control for active steering |
US6598695B1 (en) | 2002-01-30 | 2003-07-29 | Delphi Technologies, Inc. | Drive-by wire steering systems having a stop mechanism |
US6799654B2 (en) | 2002-02-05 | 2004-10-05 | Delphi Technologies, Inc. | Hand wheel actuator |
US6578449B1 (en) | 2002-02-18 | 2003-06-17 | Delphi Technologies, Inc. | Snap-on steering column shroud |
DE10212782A1 (de) | 2002-03-22 | 2003-10-02 | Bayerische Motoren Werke Ag | Kraftfahrzeug mit einem Navigationssystem |
DE10316543A1 (de) | 2002-04-11 | 2003-11-13 | Toyoda Gosei Kk | Luftsackvorrichtung |
EP1361137B1 (de) | 2002-05-07 | 2007-02-14 | ThyssenKrupp Presta AG | Sicherheitslenkung und Betriebsverfahren dafür |
JP2004017929A (ja) | 2002-06-20 | 2004-01-22 | Toyoda Mach Works Ltd | 舵角中立位置の誤検出防止方法および誤検出防止装置 |
US6820713B2 (en) | 2002-07-17 | 2004-11-23 | Delphi Technologies, Inc. | Hand wheel actuator with steering-feel enhancement |
US6857498B2 (en) | 2002-07-25 | 2005-02-22 | General Motors Corporation | Console with driver's interface |
US6889792B1 (en) | 2002-08-01 | 2005-05-10 | Trw Inc. | Electrically assisted power steering system with anti-theft capability |
JP3860518B2 (ja) | 2002-08-12 | 2006-12-20 | 株式会社豊田中央研究所 | 路面摩擦状態推定装置 |
DE10242966B3 (de) | 2002-09-17 | 2004-06-03 | Dr.Ing.H.C. F. Porsche Ag | Flexible Spaltabdeckung zwischen einer verstellbaren Lenksäule eines Kraftfahrzeuges und einer Armaturentafel |
DE10251764A1 (de) | 2002-11-07 | 2004-05-27 | Daimlerchrysler Ag | Kraftfahrzeuglenksäule |
US6997281B2 (en) | 2002-11-26 | 2006-02-14 | General Motors Corporation | Driver control input device for drive-by-wire vehicle |
US6819990B2 (en) | 2002-12-23 | 2004-11-16 | Matsushita Electric Industrial Co., Ltd. | Touch panel input for automotive devices |
US7239949B2 (en) | 2003-02-26 | 2007-07-03 | Ford Global Technologies, Llc | Integrated sensing system |
US6983817B2 (en) * | 2003-03-18 | 2006-01-10 | Toyoda Koki Kabushiki Kaisha | Power steering device |
JP2006523572A (ja) | 2003-03-25 | 2006-10-19 | トンプソン,ミルトン | セキュリティー認証システム |
JP4021792B2 (ja) | 2003-04-14 | 2007-12-12 | ユニシア ジェーケーシー ステアリングシステム株式会社 | 操舵制御装置 |
US20050081675A1 (en) | 2003-05-30 | 2005-04-21 | Aisin Seiki Kabushiki Kaisha | Steering apparatus |
US7510038B2 (en) | 2003-06-11 | 2009-03-31 | Delphi Technologies, Inc. | Steering system with lane keeping integration |
US6868934B2 (en) * | 2003-07-09 | 2005-03-22 | Honda Giken Kogyo Kabushiki Kaisha | Variable power steering assist using driver grip pressure |
US7062365B1 (en) | 2003-09-03 | 2006-06-13 | Weibin Fei | Personal computer for automobiles |
GB2406314A (en) | 2003-09-29 | 2005-03-30 | Autoliv Dev | Steering wheel tilting mechanism |
CN100436227C (zh) | 2003-10-02 | 2008-11-26 | 日产自动车株式会社 | 车辆转向装置 |
DE10354662B4 (de) | 2003-11-22 | 2012-11-15 | Robert Bosch Gmbh | Verfahren und Vorrichtung zum Unterstützen des Fahrers eines Kraftfahrzeugs in fahrdynamischen Grenzsituationen |
US20050155809A1 (en) | 2004-01-20 | 2005-07-21 | Krzesicki Richard M. | Mechanical clutch coupling back-up for electric steering system |
DE102004004336A1 (de) | 2004-01-29 | 2005-08-18 | Zf Friedrichshafen Ag | Fahrstabilitätsregelungsverfahren für ein Kraftfahrzeug |
PL1559630T3 (pl) | 2004-01-30 | 2014-03-31 | Gm Global Tech Operations Llc | Urządzenie do kierowania pojazdem |
US20050275205A1 (en) * | 2004-05-26 | 2005-12-15 | Bruce Ahnafield | Small diameter steering wheel apparatus |
CN100545771C (zh) | 2004-07-15 | 2009-09-30 | 株式会社日立制作所 | 车辆控制装置 |
CN100465041C (zh) | 2004-08-20 | 2009-03-04 | 爱信精机株式会社 | 用于车辆的驾驶辅助装置和方法 |
US7295904B2 (en) | 2004-08-31 | 2007-11-13 | International Business Machines Corporation | Touch gesture based interface for motor vehicle |
WO2006099483A1 (en) | 2005-03-15 | 2006-09-21 | Trw Automotive U.S. Llc | Method and apparatus for controlling an electric assist steering system using an adaptive blending torque filter and road feel filter |
JP4684698B2 (ja) | 2005-03-22 | 2011-05-18 | 本田技研工業株式会社 | 車両の操舵制御装置 |
DE102005013027A1 (de) | 2005-03-22 | 2006-10-26 | Knorr-Bremse Systeme für Nutzfahrzeuge GmbH | Antriebsstrang für einen Kompressor und eine Hydraulikpumpe |
US8165749B2 (en) | 2005-03-31 | 2012-04-24 | Honda Motor Co., Ltd | Control system for adjustable damping force damper |
US7548804B2 (en) | 2005-05-19 | 2009-06-16 | Novariant, Inc. | Emulation to provide multiple applications in mobile equipment |
DE102005032528A1 (de) | 2005-07-12 | 2007-01-18 | Siemens Ag | Manöverassistenzsystem und Verfahren zum Liefern von assistierenden Informationssignalen an einen Benutzer |
DE102005034636B3 (de) | 2005-07-20 | 2007-03-22 | Takata-Petri Ag | Lenkeinrichtung für eine Überlagerungslenkung |
JP4492471B2 (ja) * | 2005-07-25 | 2010-06-30 | トヨタ自動車株式会社 | パワーステアリング装置。 |
WO2007021263A1 (en) | 2005-08-10 | 2007-02-22 | Autoliv Asp, Inc. | Improved steering apparatus |
JP2007062470A (ja) | 2005-08-30 | 2007-03-15 | Toyoda Gosei Co Ltd | 操舵装置 |
JPWO2007034567A1 (ja) | 2005-09-20 | 2009-03-19 | 佳章 瀧田 | 自動車車両ドライブバイワイヤー操舵システム |
DE112006003044T5 (de) | 2005-10-21 | 2008-10-23 | Deere & Company, Moline | Vielseitiges Robotersteuermodul |
DE102005052177A1 (de) | 2005-11-02 | 2007-05-03 | Robert Bosch Gmbh | Einrichtung und Verfahren zur Warnung eines Fahrers eines Kraftfahrzeugs vor Verlassen einer Fahrspur |
DE102005056438A1 (de) | 2005-11-26 | 2007-06-14 | Volkswagen Ag | Verfahren und Vorrichtung zur Lenkradüberwachung |
JP4816732B2 (ja) | 2005-12-01 | 2011-11-16 | トヨタ自動車株式会社 | 運転支援システムおよび運転支援方法 |
US7495584B1 (en) | 2005-12-22 | 2009-02-24 | Fred Sorensen | Wireless steering column switch levers |
US7388475B2 (en) | 2006-01-19 | 2008-06-17 | Gm Global Technology Operations, Inc. | Lane departure warning and avoidance system with warning modification criteria |
JP4816145B2 (ja) | 2006-03-03 | 2011-11-16 | 日産自動車株式会社 | ケーブル式ステアリング装置 |
JP2007253809A (ja) | 2006-03-23 | 2007-10-04 | Nissan Motor Co Ltd | 運転姿勢調節装置、自動車及び運転姿勢調節方法 |
US20070241548A1 (en) | 2006-04-13 | 2007-10-18 | Fong Jian J | Steering wheel retracting device for vehicle |
DE102006025254A1 (de) | 2006-05-31 | 2007-12-06 | Volkswagen Ag | Elektromechanische Lenkung mit Lenkempfehlung |
US7497472B2 (en) | 2006-06-07 | 2009-03-03 | Delphi Technologies, Inc. | Steering column assembly |
DE102006056094A1 (de) | 2006-11-28 | 2008-05-29 | Robert Bosch Gmbh | Fahrerassistenzsystem mit Anwesenheitsüberwachung |
US7676310B2 (en) | 2006-11-30 | 2010-03-09 | Gm Global Technology Operations, Inc. | Systems and methods for controlling a vehicle steering system |
US7725227B2 (en) | 2006-12-15 | 2010-05-25 | Gm Global Technology Operations, Inc. | Method, system, and apparatus for providing enhanced steering pull compensation |
DE102006060628A1 (de) * | 2006-12-21 | 2008-06-26 | Robert Bosch Gmbh | Verfahren zur Einstellung eines Lenksystems in einem Fahrzeug |
JP4477648B2 (ja) | 2007-03-09 | 2010-06-09 | トヨタ自動車株式会社 | コラム付けニーエアバッグ装置を備えたステアリングコラム装置 |
US7770487B2 (en) | 2007-03-30 | 2010-08-10 | Nissan Technical Center North America, Inc. | Vehicle steering column structure |
CN101037117A (zh) | 2007-05-05 | 2007-09-19 | 王粤江 | 汽车转向车轮转向角度显示装置 |
DE102007022184A1 (de) | 2007-05-11 | 2008-11-13 | Robert Bosch Gmbh | Fahrerassistenzvorrichtung und Verfahren für dessen Steuerung |
CN101821149A (zh) | 2007-09-06 | 2010-09-01 | 高田-彼得里公开股份有限公司 | 用于机动车辆的方向盘组件 |
US8079312B2 (en) | 2007-10-01 | 2011-12-20 | Long Ronald W | Steering wheel table |
US7719431B2 (en) | 2007-10-05 | 2010-05-18 | Gm Global Technology Operations, Inc. | Systems, methods and computer products for drowsy driver detection and response |
US7793980B2 (en) | 2007-10-25 | 2010-09-14 | Fong Jian-Jhong | Retractable steering mechanism |
US8554410B2 (en) | 2007-12-11 | 2013-10-08 | Continental Teves Ag & Co. Ohg | Route guidance assistance by moment support at the steering wheel |
WO2009094517A1 (en) | 2008-01-25 | 2009-07-30 | Delphi Technologies, Inc. | Methods and systems involving torque |
US7735405B2 (en) | 2008-03-14 | 2010-06-15 | Autoliv Asp, Inc. | Pyrotechnic actuator for retracting a piston |
US7798525B2 (en) | 2008-04-11 | 2010-09-21 | Gm Global Technology Operations, Inc. | Collapsible steering column assembly |
DE102008057313B4 (de) | 2008-04-24 | 2018-03-01 | Volkswagen Ag | Verfahren und Vorrichtung zur Bestimmung eines korrigierenden Lenkmoments |
US8180513B2 (en) | 2008-05-05 | 2012-05-15 | Southwest Research Institute | Autonomous ground vehicle control system for high-speed and safe operation |
US8374743B2 (en) | 2008-05-16 | 2013-02-12 | GM Global Technology Operations LLC | Method and apparatus for driver control of a limited-ability autonomous vehicle |
US7909361B2 (en) | 2008-06-10 | 2011-03-22 | GM Global Technology Operations LLC | Vehicular steering wheel and column assembly including torsional damper device |
US8069745B2 (en) | 2008-07-10 | 2011-12-06 | Nexteer (Beijing) Technology Co., Ltd. | Power steering device including a compliant gear |
EP2344372B1 (en) | 2008-09-19 | 2014-02-12 | GM Global Technology Operations LLC | Rotary-to-linear mechanism having an isolator |
KR101020973B1 (ko) | 2008-12-03 | 2011-03-09 | 현대자동차주식회사 | 스티어 바이 와이어 시스템용 전자식 조향록킹장치 |
US8170751B2 (en) | 2008-12-17 | 2012-05-01 | GM Global Technology Operations LLC | Detection of driver intervention during a torque overlay operation in an electric power steering system |
JP5282889B2 (ja) | 2009-01-13 | 2013-09-04 | トヨタ自動車株式会社 | 車両の操舵制御装置 |
DE102010005483A1 (de) | 2009-02-03 | 2010-08-05 | Volkswagen Ag | Kraftfahrzeug |
JPWO2010089945A1 (ja) | 2009-02-04 | 2012-08-09 | 本田技研工業株式会社 | 車両用ステアリング装置 |
US8170725B2 (en) | 2009-02-18 | 2012-05-01 | GM Global Technology Operations LLC | Vehicle stability enhancement control adaptation to driving skill based on highway on/off ramp maneuver |
US20100228417A1 (en) | 2009-03-06 | 2010-09-09 | Gm Global Technology Operations, Inc. | Driver hands on/off detection during automated lane centering/changing maneuver |
US8265846B2 (en) * | 2009-03-27 | 2012-09-11 | GM Global Technology Operations LLC | Method for operating a vehicle brake system |
EP2727798B1 (en) | 2009-04-10 | 2019-03-13 | Toyota Jidosha Kabushiki Kaisha | Control apparatus for vehicle |
DE102009021280A1 (de) | 2009-05-14 | 2010-11-18 | GM Global Technology Operations, Inc., Detroit | Kraftfahrzeug mit einem Touchpad im Lenkrad und Verfahren zur Ansteuerung des Touchpads |
CN101596903B (zh) | 2009-07-07 | 2012-02-15 | 清华大学 | 多功能汽车横向驾驶辅助方法及其辅助系统 |
US8706355B2 (en) | 2009-07-29 | 2014-04-22 | Toyota Jidosha Kabushiki Kaisha | Steering control system |
DE102010026291A1 (de) | 2009-08-06 | 2011-02-10 | Volkswagen Ag | Kraftfahrzeug |
JP5366703B2 (ja) | 2009-08-19 | 2013-12-11 | 株式会社Ihiエアロスペース | 半自律型無人車両の遠隔操縦システム |
CN102574543B (zh) | 2009-08-19 | 2015-08-05 | 凯尔西-海耶斯公司 | 自主驾驶的故障安全操作转向系统 |
JP5286214B2 (ja) | 2009-09-30 | 2013-09-11 | 日立オートモティブシステムズ株式会社 | 車両制御装置 |
JP5036780B2 (ja) | 2009-10-06 | 2012-09-26 | トヨタ自動車株式会社 | 車両の制御装置 |
DE102009048954A1 (de) | 2009-10-10 | 2011-04-14 | Daimler Ag | Verfahren und Vorrichtung zum automatischen Betreiben eines Fahrzeugs in einem keine Nutzeraktion erfordernden autonomen Fahrbetrieb |
US20110098922A1 (en) | 2009-10-27 | 2011-04-28 | Visteon Global Technologies, Inc. | Path Predictive System And Method For Vehicles |
DE102009053226A1 (de) | 2009-11-06 | 2011-05-12 | Thyssenkrupp Presta Ag | Steer-by-wire-Lenkung mit elektromechanischer Lenkungsverriegelung |
US20110187518A1 (en) | 2010-02-02 | 2011-08-04 | Ford Global Technologies, Llc | Steering wheel human/machine interface system and method |
ES2388245T3 (es) | 2010-03-10 | 2012-10-11 | Thyssenkrupp Presta Ag | Compensación de fuerza de rozamiento en un sistema eléctrico de direccionamiento |
JP5759230B2 (ja) | 2010-04-02 | 2015-08-05 | ティーケー ホールディングス,インコーポレーテッド | 手センサを有するステアリング・ホイール |
US8260482B1 (en) | 2010-04-28 | 2012-09-04 | Google Inc. | User interface for displaying internal state of autonomous driving system |
DE102010019236B4 (de) | 2010-05-03 | 2014-07-17 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Kontakterkennung |
CA2801096A1 (en) | 2010-06-16 | 2011-12-22 | Litens Automotive Partnership | Clutch for selectively driving an accessory |
DE102010025197B4 (de) | 2010-06-26 | 2021-01-07 | Volkswagen Ag | Verfahren und Vorrichtung zur Filterung eines Sollwertsignals |
JP5513282B2 (ja) | 2010-06-29 | 2014-06-04 | 富士機工株式会社 | 電動テレスコステアリング装置 |
PL2426030T3 (pl) | 2010-08-11 | 2013-05-31 | Thyssenkrupp Presta Ag | Urządzenie do sterowania kierowaniem dla pojazdu i sposób sterowania kierowaniem |
US8509982B2 (en) | 2010-10-05 | 2013-08-13 | Google Inc. | Zone driving |
EP2625087B1 (en) | 2010-10-08 | 2015-01-07 | TRW Steering Systems Poland Sp. z.o.o. | A steering column assembly |
JP5706130B2 (ja) | 2010-10-29 | 2015-04-22 | 株式会社アドヴィックス | 車両の挙動制御装置及び車両の挙動制御方法 |
US8700262B2 (en) | 2010-12-13 | 2014-04-15 | Nokia Corporation | Steering wheel controls |
DE102011112134A1 (de) | 2011-09-01 | 2013-03-07 | Audi Ag | Anordnung zum Verkleiden eines Bauteils, Bauteil und Kraftfahrzeug |
US8489282B2 (en) | 2011-02-16 | 2013-07-16 | Steering Solutions Ip Holding Corporation | Electric power steering control methods and systems |
EP2489577B1 (en) | 2011-02-16 | 2017-12-13 | Steering Solutions IP Holding Corporation | Electric power steering control methods and systems using hysteresis compensation |
JP5429234B2 (ja) | 2011-03-23 | 2014-02-26 | トヨタ自動車株式会社 | 車両用情報処理装置 |
CN107054374B (zh) * | 2011-06-22 | 2019-10-18 | Tk控股公司 | 用于车辆的方向盘的传感器系统 |
US8994521B2 (en) | 2011-06-29 | 2015-03-31 | GM Global Technology Operations LLC | Steering wheels for vehicle control in manual and autonomous driving |
CN102320324B (zh) | 2011-06-30 | 2013-01-16 | 浙江大学宁波理工学院 | 线控转向汽车路感模拟执行装置 |
US8775006B2 (en) | 2011-07-14 | 2014-07-08 | GM Global Technology Operations LLC | System and method for enhanced vehicle control |
US9267809B2 (en) | 2011-08-11 | 2016-02-23 | JVC Kenwood Corporation | Control apparatus and method for controlling operation target device in vehicle, and steering wheel |
KR101452557B1 (ko) | 2011-08-16 | 2014-10-21 | 주식회사 만도 | 전동식 동력 보조 조향장치 |
JP5853566B2 (ja) | 2011-10-11 | 2016-02-09 | マツダ株式会社 | 自動車のステアリングコラムカバー構造およびそのステアリングコラムカバー構造を備えた自動車 |
DE102011084903A1 (de) | 2011-10-20 | 2013-04-25 | TAKATA Aktiengesellschaft | Sensorsysteme für ein Kraftfahrzeug |
JP5452566B2 (ja) | 2011-10-31 | 2014-03-26 | 本田技研工業株式会社 | 車両用入力装置 |
US20130131907A1 (en) | 2011-11-17 | 2013-05-23 | GM Global Technology Operations LLC | System and method for managing misuse of autonomous driving |
JP5850229B2 (ja) | 2011-11-29 | 2016-02-03 | 日本精機株式会社 | 車両用操作装置 |
US8548667B2 (en) | 2011-12-15 | 2013-10-01 | Steering Solutions Ip Holding Corporation | Hands on steering wheel detect in lane centering operation |
US9038761B2 (en) | 2011-12-21 | 2015-05-26 | Volvo Group North America, Llc | Dual steering system for a vehicle |
BR112014015915A8 (pt) | 2011-12-29 | 2017-07-04 | Intel Corp | sistemas, métodos e aparelho para controlar a iniciação e a terminação de gestos |
EP2810850B1 (en) | 2012-01-31 | 2018-04-25 | Toyota Jidosha Kabushiki Kaisha | Vehicle steering control device |
DE102012002306A1 (de) | 2012-02-06 | 2013-08-08 | Audi Ag | Kraftwagen mit einer Fahrerassistenzeinrichtung und Verfahren zum Betreiben eines Kraftwagens |
US8899622B2 (en) | 2012-03-09 | 2014-12-02 | Nsk Americas, Inc. | Internally collapsible steering column assembly |
US8930081B2 (en) | 2012-03-21 | 2015-01-06 | Steering Solutions Ip Holding Corporation | System for indicating an impending vehicle maneuver |
DE102012206725A1 (de) | 2012-04-24 | 2013-10-24 | Ford Global Technologies, Llc | Verfahren und Vorrichtung zum Versetzen eines autonom fahrenden Kraftfahrzeugs in einen sicheren Zustand |
CN202563346U (zh) | 2012-04-27 | 2012-11-28 | 吉林大学 | 手势姿态远程控制行走机器人 |
US9074402B2 (en) | 2012-05-01 | 2015-07-07 | Toyota Motor Engineering & Manufacturing North America, Inc. | Sliding door obstacle detection |
JP5900147B2 (ja) | 2012-05-16 | 2016-04-06 | 株式会社ジェイテクト | ステアリング装置 |
US8695750B1 (en) | 2012-05-17 | 2014-04-15 | R.H. Sheppard Co., Inc. | Dual hydraulic power steering system |
US9159221B1 (en) | 2012-05-25 | 2015-10-13 | George Stantchev | Steering wheel with remote control capabilities |
US9096262B2 (en) | 2012-05-25 | 2015-08-04 | Ford Global Technologies, Llc | Hands-on-off steering wheel detection for motor vehicle |
US20130325202A1 (en) | 2012-06-01 | 2013-12-05 | GM Global Technology Operations LLC | Neuro-cognitive driver state processing |
DE102012010887A1 (de) | 2012-06-01 | 2013-12-05 | Audi Ag | Kraftwagen mit einer Steuereinrichtung für ein fahrzeugfremdes Computersystem |
US9150238B2 (en) | 2012-06-04 | 2015-10-06 | GM Global Technology Operations LLC | System and method for automatically adjusting a steering tilt position |
DE102012012307A1 (de) | 2012-06-20 | 2013-12-24 | Volkswagen Aktiengesellschaft | Verfahren zur Unterdrückung von Störgrößen in einem Lenksystem eines Kraftfahrzeugs und Lenksystem in einem Kraftfahrzeug |
DE102012014762A1 (de) | 2012-07-25 | 2014-01-30 | Audi Ag | Kraftfahrzeug mit versenkbarem Lenkrad |
US9321481B2 (en) | 2012-08-09 | 2016-04-26 | Steering Solutions Ip Holding Corporation | System for providing steering assist torque based on a lateral position command |
US9308932B2 (en) | 2012-08-09 | 2016-04-12 | Steering Solutions Ip Holding Corporation | System for providing steering assist torque based on a proportional gain value |
JP2014046867A (ja) | 2012-08-31 | 2014-03-17 | Sony Corp | 入力装置 |
JP6083997B2 (ja) | 2012-10-01 | 2017-02-22 | キヤノン株式会社 | 投射型表示装置 |
US8632096B1 (en) | 2012-10-12 | 2014-01-21 | GM Global Technology Operations LLC | Systems and methods for hand wheel torsional vibration attenuation |
WO2014066477A1 (en) | 2012-10-23 | 2014-05-01 | Tk Holdings Inc. | Steering wheel light bar |
WO2014066476A1 (en) | 2012-10-23 | 2014-05-01 | Tk Holdings Inc. | Steering wheel light bar |
CN104755355B (zh) | 2012-10-23 | 2018-01-26 | Tk控股公司 | 转向盘灯条 |
JP6112015B2 (ja) | 2012-11-02 | 2017-04-12 | 日本精工株式会社 | チルト式ステアリング装置 |
CN103818386A (zh) | 2012-11-19 | 2014-05-28 | 大连天地伟业数码科技有限公司 | 一种用于汽车的手势识别系统 |
US9092093B2 (en) | 2012-11-27 | 2015-07-28 | Neonode Inc. | Steering wheel user interface |
US9031729B2 (en) | 2012-11-29 | 2015-05-12 | Volkswagen Ag | Method and system for controlling a vehicle |
EP2738645A1 (en) | 2012-11-30 | 2014-06-04 | Harman Becker Automotive Systems GmbH | Vehicle gesture recognition system and method |
US8825258B2 (en) | 2012-11-30 | 2014-09-02 | Google Inc. | Engaging and disengaging for autonomous driving |
JP6030430B2 (ja) | 2012-12-14 | 2016-11-24 | クラリオン株式会社 | 制御装置、車両及び携帯端末 |
KR101459441B1 (ko) | 2012-12-18 | 2014-11-07 | 현대자동차 주식회사 | 차량 내 손가락 사이점을 이용한 사용자 인터페이스 조작 시스템 및 방법 |
US8909428B1 (en) | 2013-01-09 | 2014-12-09 | Google Inc. | Detecting driver grip on steering wheel |
WO2014115275A1 (ja) | 2013-01-24 | 2014-07-31 | トヨタ自動車株式会社 | 車両の電動パワーステアリング装置 |
DE102013101045B3 (de) | 2013-02-01 | 2014-05-15 | Thyssenkrupp Presta Aktiengesellschaft | Lenksäule für ein Kraftfahrzeug |
US8880287B2 (en) | 2013-03-06 | 2014-11-04 | GM Global Technology Operations LLC | Steering-wheel-hold detection for lane keeping assist feature |
US8948993B2 (en) | 2013-03-08 | 2015-02-03 | Richard Schulman | Method and system for controlling the behavior of an occupant of a vehicle |
US8903610B2 (en) | 2013-03-12 | 2014-12-02 | Steering Solutions Ip Holding Corporation | System for providing assist torque based on a vehicle state |
US8798852B1 (en) | 2013-03-14 | 2014-08-05 | Gogoro, Inc. | Apparatus, system, and method for authentication of vehicular components |
US9702349B2 (en) | 2013-03-15 | 2017-07-11 | ClearMotion, Inc. | Active vehicle suspension system |
US9751534B2 (en) | 2013-03-15 | 2017-09-05 | Honda Motor Co., Ltd. | System and method for responding to driver state |
US9333983B2 (en) | 2013-03-15 | 2016-05-10 | Volkswagen Ag | Dual-state steering wheel/input device |
US20140285216A1 (en) | 2013-03-19 | 2014-09-25 | Ford Global Technologies, Llc | System for enhancing signal quality from capacitive biometric sensor in a vehicle for continuous biometric monitoring |
US9342074B2 (en) | 2013-04-05 | 2016-05-17 | Google Inc. | Systems and methods for transitioning control of an autonomous vehicle to a driver |
DE102013206212A1 (de) | 2013-04-09 | 2014-10-09 | Ford Global Technologies, Llc | Verfahren zur Steuerung eines Fahrzeugs mit temporär autonomer Fahrzeugführung sowie Steuerungseinrichtung |
JP6212915B2 (ja) | 2013-04-10 | 2017-10-18 | アイシン精機株式会社 | 車両のステアリング装置 |
EP2817787A4 (en) | 2013-04-15 | 2015-10-21 | Flextronics Ap Llc | RECORDING AND DISPLAYING A VEHICLE IMMERSION ALARM |
DE102013206746B4 (de) | 2013-04-16 | 2016-08-11 | Ford Global Technologies, Llc | Verfahren und Vorrichtung zum Modifizieren der Konfiguration eines Fahrassistenzsystems eines Kraftfahrzeuges |
JP6851197B2 (ja) | 2013-05-30 | 2021-03-31 | ティーケー ホールディングス インク.Tk Holdings Inc. | 多次元トラックパッド |
US20150002404A1 (en) | 2013-06-27 | 2015-01-01 | GM Global Technology Operations LLC | Customizable steering wheel controls |
US8874301B1 (en) | 2013-07-09 | 2014-10-28 | Ford Global Technologies, Llc | Autonomous vehicle with driver presence and physiological monitoring |
KR101491284B1 (ko) | 2013-07-25 | 2015-02-11 | 현대자동차주식회사 | 강성도 변경 및 압력 수신이 가능한 스티어링 휠 장치 및 이의 제어 방법 |
DE102013012779A1 (de) | 2013-07-31 | 2015-02-05 | Valeo Schalter Und Sensoren Gmbh | Verfahren zum Betreiben einer Fahrerassistenzeinrichtung zum autonomen Führen eines Kraftfahrzeugs und Kraftfahrzeug |
DE102013013539A1 (de) | 2013-08-14 | 2015-02-19 | GM Global Technology Operations, LLC (n.d. Ges. d. Staates Delaware) | Fahrerassistenzsystem und Verfahren zum Betreiben eines Fahrerassistenzsystems |
BR102013021915A2 (pt) | 2013-08-28 | 2015-08-04 | Chafic Samir Feguri | Sistema de direção aplicado em veículos automotores |
EP2848488B2 (en) | 2013-09-12 | 2022-04-13 | Volvo Car Corporation | Method and arrangement for handover warning in a vehicle having autonomous driving capabilities |
US9360865B2 (en) | 2013-09-20 | 2016-06-07 | Ford Global Technologies, Llc | Transitioning from autonomous vehicle control to driver control |
US9150224B2 (en) | 2013-09-24 | 2015-10-06 | Ford Global Technologies, Llc | Transitioning from autonomous vehicle control to to driver control to responding to driver control |
DE102013110865A1 (de) | 2013-10-01 | 2015-04-02 | Volkswagen Aktiengesellschaft | Verfahren für ein Fahrerassistenzsystem eines Fahrzeugs |
DE102013110852A1 (de) | 2013-10-01 | 2015-04-16 | Volkswagen Aktiengesellschaft | Verfahren für ein Fahrerassistenzsystem eines Fahrzeugs |
DE102013222048B4 (de) | 2013-10-30 | 2023-10-05 | Volkswagen Aktiengesellschaft | Verfahren und Vorrichtung zum Aktivieren oder Deaktivieren einer automatischen Fahrfunktion |
US9352777B2 (en) | 2013-10-31 | 2016-05-31 | Ford Global Technologies, Llc | Methods and systems for configuring of a trailer maneuvering system |
KR101779962B1 (ko) | 2013-10-31 | 2017-09-20 | 한국전자통신연구원 | 운전자의 의지 판단을 포함하는 조향 제어 장치 및 이의 작동 방법 |
US9073574B2 (en) | 2013-11-20 | 2015-07-07 | Ford Global Technologies, Llc | Autonomous vehicle with reconfigurable interior |
US9108584B2 (en) | 2013-11-20 | 2015-08-18 | Ford Global Technologies, Llc | Multi-stage airbag in vehicle with reconfigurable interior |
US9227531B2 (en) | 2013-11-20 | 2016-01-05 | Ford Global Technologies, Llc | Autonomous vehicle with reconfigurable seats |
US9199553B2 (en) | 2013-11-20 | 2015-12-01 | Ford Global Technologies | Autonomous vehicle with reconfigurable seats |
US9008913B1 (en) | 2013-11-22 | 2015-04-14 | Oshkosh Corporation | Steering control system for a towed axle |
CN103777632B (zh) | 2013-12-31 | 2017-12-26 | 闻泰通讯股份有限公司 | 一种用手机控制车辆的系统及方法 |
FR3016327B1 (fr) | 2014-01-15 | 2017-07-28 | Sodikart | Kart biplace a volant desactivable. |
EP2907730B1 (en) | 2014-01-29 | 2017-09-06 | Steering Solutions IP Holding Corporation | Hands on steering wheel detect |
US9205805B2 (en) | 2014-02-14 | 2015-12-08 | International Business Machines Corporation | Limitations on the use of an autonomous vehicle |
US9539999B2 (en) | 2014-02-28 | 2017-01-10 | Ford Global Technologies, Llc | Vehicle operator monitoring and operations adjustments |
WO2015134639A1 (en) | 2014-03-04 | 2015-09-11 | Panasonic Automotive Systems Company Of America, Division Of Panasonic Corporation Of North America | Configurable touch screen lcd steering wheel controls |
US9290186B2 (en) | 2014-03-10 | 2016-03-22 | Ford Global Technologies, Llc | Messaging via vehicle steering wheel |
EP2930081B1 (en) | 2014-04-08 | 2019-03-27 | Volvo Car Corporation | Method for transition between driving modes |
US9436182B2 (en) | 2014-05-23 | 2016-09-06 | Google Inc. | Autonomous vehicles |
US9868449B1 (en) | 2014-05-30 | 2018-01-16 | Leap Motion, Inc. | Recognizing in-air gestures of a control object to control a vehicular control system |
RO131213A2 (ro) | 2014-07-14 | 2016-06-30 | Nextrom Industries S.R.L. | Vehicul electric pliabil şi portabil |
WO2016019344A1 (en) | 2014-07-31 | 2016-02-04 | Trw Automotive U.S. Llc | Assist compensation for actively controlled power steering systems |
US9725098B2 (en) | 2014-08-11 | 2017-08-08 | Ford Global Technologies, Llc | Vehicle driver identification |
US9997077B2 (en) | 2014-09-04 | 2018-06-12 | Honda Motor Co., Ltd. | Vehicle operation assistance |
US10144445B2 (en) | 2014-09-15 | 2018-12-04 | Steering Solutions Ip Holding Corporation | Modified static tire model for providing assist without a torque sensor for zero to low vehicle speeds |
US9409595B2 (en) | 2014-09-15 | 2016-08-09 | Steering Solutions Ip Holding Corporation | Providing assist torque without hand wheel torque sensor for zero to low vehicle speeds |
EP3000651B1 (en) | 2014-09-24 | 2018-02-21 | Volvo Car Corporation | A system and method for seat retraction during an autonomous driving mode |
US9290174B1 (en) | 2014-10-23 | 2016-03-22 | GM Global Technology Operations LLC | Method and system for mitigating the effects of an impaired driver |
DE102014223128A1 (de) | 2014-11-12 | 2016-05-12 | Bayerische Motoren Werke Ag | Lenkrad mit einem Sensoraufbau zur Belegterkennung einer beheizten Kontaktfläche, Lenkradsystem und Verfahren zur Belegterkennung einer beheizten Kontaktfläche |
EP3042825B1 (en) | 2015-01-12 | 2022-03-09 | Volvo Car Corporation | A steering wheel assembly for retracting a steering wheel in a vehicle |
JP6176263B2 (ja) | 2015-01-19 | 2017-08-09 | トヨタ自動車株式会社 | 自動運転装置 |
JP6176264B2 (ja) | 2015-01-19 | 2017-08-09 | トヨタ自動車株式会社 | 自動運転車両システム |
JP6260544B2 (ja) | 2015-01-19 | 2018-01-17 | トヨタ自動車株式会社 | 自動運転装置 |
DE102015001802A1 (de) | 2015-02-11 | 2016-08-11 | GM Global Technology Operations LLC (n. d. Ges. d. Staates Delaware) | Fahrerassistenzsystem für ein Fahrzeug |
US9845109B2 (en) | 2015-03-25 | 2017-12-19 | Steering Solutions Ip Holding Corporation | Continuous estimation of surface friction coefficient based on EPS and vehicle models |
US10120567B2 (en) | 2015-04-02 | 2018-11-06 | Inpris Innovative Products From Israel Ltd | System, apparatus and method for vehicle command and control |
US10589774B2 (en) | 2015-05-01 | 2020-03-17 | Steering Solutions Ip Holding Corporation | Counter rotation steering wheel |
US10351159B2 (en) | 2015-05-01 | 2019-07-16 | Steering Solutions Ip Holding Corporation | Retractable steering column with a radially projecting attachment |
US9919724B2 (en) | 2015-05-29 | 2018-03-20 | Steering Solutions Ip Holding Corporation | Retractable steering column with manual retrieval |
JP2017004099A (ja) | 2015-06-05 | 2017-01-05 | 株式会社東海理化電機製作所 | 回転操作装置 |
US20160364003A1 (en) | 2015-06-10 | 2016-12-15 | Wayne Patrick O'Brien | Holographic interface for manipulation |
US10343706B2 (en) | 2015-06-11 | 2019-07-09 | Steering Solutions Ip Holding Corporation | Retractable steering column system, vehicle having the same, and method |
DE102016110791A1 (de) | 2015-06-15 | 2016-12-15 | Steering Solutions Ip Holding Corporation | Gestensteuerung für ein einfahrbares Lenkrad |
US9688244B2 (en) | 2015-06-15 | 2017-06-27 | Ford Global Technologies, Llc | Autonomous vehicle theft prevention |
US10577009B2 (en) | 2015-06-16 | 2020-03-03 | Steering Solutions Ip Holding Corporation | Retractable steering column assembly and method |
US9828016B2 (en) | 2015-06-24 | 2017-11-28 | Steering Solutions Ip Holding Corporation | Retractable steering column system, vehicle having the same, and method |
DE102016111473A1 (de) | 2015-06-25 | 2016-12-29 | Steering Solutions Ip Holding Corporation | Stationäre lenkradbaugruppe und verfahren |
US9550514B2 (en) | 2015-06-25 | 2017-01-24 | Steering Solutions Ip Holding Corporation | Retractable steering column system with air bag, vehicle having the same, and method |
US20160375931A1 (en) | 2015-06-25 | 2016-12-29 | Steering Solutions Ip Holding Corporation | Rotation control system for a steering wheel and method |
US9944307B2 (en) | 2015-06-26 | 2018-04-17 | Steering Solutions Ip Holding Corporation | Steering assembly and method of monitoring a space within vehicle |
US10112639B2 (en) | 2015-06-26 | 2018-10-30 | Steering Solutions Ip Holding Corporation | Vehicle steering arrangement and method of making same |
US9840271B2 (en) | 2015-06-29 | 2017-12-12 | Steering Solutions Ip Holding Corporation | Retractable steering column with rake limiter |
US9845103B2 (en) | 2015-06-29 | 2017-12-19 | Steering Solutions Ip Holding Corporation | Steering arrangement |
US20170029018A1 (en) | 2015-07-30 | 2017-02-02 | Steering Solutions Ip Holding Corporation | Rotation control system for a steering wheel and method |
US9849904B2 (en) | 2015-07-31 | 2017-12-26 | Steering Solutions Ip Holding Corporation | Retractable steering column with dual actuators |
US10464594B2 (en) | 2015-09-03 | 2019-11-05 | Steering Solutions Ip Holding Corporation | Model based driver torque estimation |
EP3153346B1 (en) | 2015-10-07 | 2019-09-25 | Volvo Car Corporation | A seat system for autonomous vehicles |
US10399597B2 (en) | 2015-10-09 | 2019-09-03 | Steering Solutions Ip Holding Corporation | Payload estimation using electric power steering signals |
US10569801B2 (en) | 2015-10-09 | 2020-02-25 | Steering Solutions Ip Holding Corporation | Payload estimation using electric power steering signals |
US9809155B2 (en) | 2015-10-27 | 2017-11-07 | Steering Solutions Ip Holding Corporation | Retractable steering column assembly having lever, vehicle having retractable steering column assembly, and method |
TW201718297A (zh) | 2015-11-27 | 2017-06-01 | 鴻海精密工業股份有限公司 | 車輛駕駛模式切換系統和方法 |
US9738309B2 (en) | 2015-11-30 | 2017-08-22 | Steering Solutions Ip Holding Corporation | Active-damping based approach to mitigate effects of rack disturbances on EPS systems |
JP6579377B2 (ja) | 2015-11-30 | 2019-09-25 | 株式会社ジェイテクト | 車両用操舵装置 |
KR101755913B1 (ko) | 2015-12-03 | 2017-07-07 | 현대자동차주식회사 | 스티어링 휠을 이용한 차량 내 기기 조작 장치 및 그 방법 |
US10029725B2 (en) | 2015-12-03 | 2018-07-24 | Steering Solutions Ip Holding Corporation | Torque feedback system for a steer-by-wire vehicle, vehicle having steering column, and method of providing feedback in vehicle |
US10556600B2 (en) | 2015-12-09 | 2020-02-11 | Toyota Motor Engineering & Manufacturing North America, Inc. | Assessment of human driving performance using autonomous vehicles |
JP2017140901A (ja) | 2016-02-09 | 2017-08-17 | 株式会社東海理化電機製作所 | ステアリング装置 |
DE102017103034B4 (de) | 2016-02-16 | 2022-02-10 | Steering Solutions Ip Holding Corporation | Lenkungssystem zum Detektieren von Bewegungszuständen eines Fahrzeugs |
US10005492B2 (en) | 2016-02-18 | 2018-06-26 | Ford Global Technologies, Llc | Trailer length and hitch angle bias estimation |
US11392117B2 (en) | 2016-02-18 | 2022-07-19 | Sony Corporation | Method and device for managing interaction between a wearable device and a vehicle |
US10496102B2 (en) | 2016-04-11 | 2019-12-03 | Steering Solutions Ip Holding Corporation | Steering system for autonomous vehicle |
CN107416008A (zh) | 2016-04-13 | 2017-12-01 | 法拉第未来公司 | 使车辆方向盘自动缩回和伸出的系统和方法 |
DE102017108692A1 (de) | 2016-04-25 | 2017-10-26 | Steering Solutions Ip Holding Corporation | Steuerung einer elektrischen Servolenkung unter Verwendung von Systemzustandsvorhersagen |
CN105711591A (zh) | 2016-04-26 | 2016-06-29 | 百度在线网络技术(北京)有限公司 | 无人驾驶车辆、无人驾驶车辆的控制方法和装置 |
JP6569596B2 (ja) | 2016-05-20 | 2019-09-04 | トヨタ自動車株式会社 | 車両 |
US10007264B2 (en) | 2016-07-14 | 2018-06-26 | Baidu Usa Llc | Autonomous vehicle human driver takeover mechanism using electrodes |
US10160477B2 (en) | 2016-08-01 | 2018-12-25 | Steering Solutions Ip Holding Corporation | Electric power steering column assembly |
US9852752B1 (en) | 2016-08-12 | 2017-12-26 | Headway Technologies, Inc. | Plasmon generator with metallic waveguide blocker for TAMR |
JP6544320B2 (ja) | 2016-08-26 | 2019-07-17 | トヨタ自動車株式会社 | 自動運転車両の制御システム及び制御方法 |
JP6512194B2 (ja) | 2016-08-26 | 2019-05-15 | トヨタ自動車株式会社 | 自動運転車両の制御システム及び制御方法 |
US10384708B2 (en) | 2016-09-12 | 2019-08-20 | Steering Solutions Ip Holding Corporation | Intermediate shaft assembly for steer-by-wire steering system |
US10239552B2 (en) | 2016-10-14 | 2019-03-26 | Steering Solutions Ip Holding Corporation | Rotation control assembly for a steering column |
US10322746B2 (en) | 2016-11-30 | 2019-06-18 | Steering Solutions Ip Holding Corporation | Velocity estimation for electric power steering systems |
-
2016
- 2016-10-03 US US15/283,628 patent/US10399591B2/en active Active
-
2017
- 2017-09-28 DE DE102017122558.7A patent/DE102017122558B4/de active Active
- 2017-10-09 CN CN201710930878.9A patent/CN107891909B/zh active Active
Also Published As
Publication number | Publication date |
---|---|
US20180093700A1 (en) | 2018-04-05 |
US10399591B2 (en) | 2019-09-03 |
DE102017122558A1 (de) | 2018-04-05 |
CN107891909A (zh) | 2018-04-10 |
DE102017122558B4 (de) | 2022-06-09 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN107891909B (zh) | 具有抓握感测的转向补偿 | |
CN107380254B (zh) | 使用系统状态预测的电动助力转向控制 | |
CN109070932B (zh) | 线控转向系统中的非脱手/脱手检测 | |
EP3213979B1 (en) | Steering control system | |
US9873453B2 (en) | Driver hands-on steering wheel detect using EPS signals | |
CN111417563B (zh) | 用于控制具有主动回位功能的线控转向系统的方法 | |
JP3860518B2 (ja) | 路面摩擦状態推定装置 | |
KR101694763B1 (ko) | 조향 제어 장치 및 조향 제어 방법 | |
KR102558215B1 (ko) | 스티어 바이 와이어 시스템 및 그 제어방법 | |
CN110182253B (zh) | 用于转向系统的轮胎负载估算的象限型摩擦补偿 | |
KR101720313B1 (ko) | 차량의 전동식 조향장치 및 그 제어 방법 | |
US10293852B2 (en) | Understeer and oversteer detector for a motor vehicle | |
US20200017139A1 (en) | Rack force estimation for steering systems | |
JP5140158B2 (ja) | 電動式パワーステアリング制御装置 | |
JP4568996B2 (ja) | 操舵装置と操舵装置の抗力算出装置 | |
US20120101685A1 (en) | Power Steering System For A Vehicle And Method For Limiting A Torque Applied By A Power Steering System | |
JP6722355B2 (ja) | ステアリングホイールの手動操作を検出するための装置及び方法 | |
JP2018165156A (ja) | ハンドル操作状態判定装置 | |
KR102145198B1 (ko) | 전동식 파워 스티어링 시스템의 컬럼토크 보상 장치 및 방법 | |
JP2009096325A (ja) | ステアリング装置の故障検知装置 | |
CN111824249A (zh) | 在没有扭矩传感器的转向系统操作中提供辅助扭矩 | |
CN111791947B (zh) | 通过cvr增益标量减轻牵引转向 | |
JPS62210169A (ja) | 車両用実舵角制御装置 | |
CN114194282A (zh) | 转向系统和用于操作转向系统的方法 | |
JP2002274404A (ja) | 電動パワーステアリング装置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
GR01 | Patent grant | ||
GR01 | Patent grant |