CN118103278B - 操舵控制方法及操舵装置 - Google Patents

操舵控制方法及操舵装置 Download PDF

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Publication number
CN118103278B
CN118103278B CN202280068697.9A CN202280068697A CN118103278B CN 118103278 B CN118103278 B CN 118103278B CN 202280068697 A CN202280068697 A CN 202280068697A CN 118103278 B CN118103278 B CN 118103278B
Authority
CN
China
Prior art keywords
steering
command value
target
vehicle
steering command
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
Application number
CN202280068697.9A
Other languages
English (en)
Chinese (zh)
Other versions
CN118103278A (zh
Inventor
筬岛慎太郎
平松大辅
中曾根源平
安西惠史
上木智久
笹井裕司
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nissan Motor Co Ltd
JTEKT Corp
Original Assignee
Nissan Motor Co Ltd
JTEKT Corp
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Nissan Motor Co Ltd, JTEKT Corp filed Critical Nissan Motor Co Ltd
Publication of CN118103278A publication Critical patent/CN118103278A/zh
Application granted granted Critical
Publication of CN118103278B publication Critical patent/CN118103278B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • B62D15/0265—Automatic obstacle avoidance by steering
    • 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
    • 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
    • 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
    • B62D5/0472—Controlling the motor for damping vibrations
    • 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
    • B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Power Steering Mechanism (AREA)
CN202280068697.9A 2021-10-12 2022-07-22 操舵控制方法及操舵装置 Active CN118103278B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2021-167227 2021-10-12
JP2021167227 2021-10-12
PCT/JP2022/028497 WO2023062907A1 (ja) 2021-10-12 2022-07-22 操舵制御方法及び操舵装置

Publications (2)

Publication Number Publication Date
CN118103278A CN118103278A (zh) 2024-05-28
CN118103278B true CN118103278B (zh) 2025-04-01

Family

ID=85988248

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202280068697.9A Active CN118103278B (zh) 2021-10-12 2022-07-22 操舵控制方法及操舵装置

Country Status (5)

Country Link
US (1) US12139197B1 (https=)
EP (1) EP4417495A4 (https=)
JP (1) JP7565456B2 (https=)
CN (1) CN118103278B (https=)
WO (1) WO2023062907A1 (https=)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2026083481A1 (ja) * 2024-10-15 2026-04-23 株式会社ジェイテクト ステアリングシステム

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109572803A (zh) * 2017-09-27 2019-04-05 株式会社捷太格特 车辆用控制装置
CN110382332A (zh) * 2017-03-09 2019-10-25 日立汽车系统株式会社 动力转向装置

Family Cites Families (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3858485B2 (ja) * 1998-11-26 2006-12-13 マツダ株式会社 車両の制御装置
DE102005052034A1 (de) * 2005-10-31 2007-05-03 Robert Bosch Gmbh LKS-System mit modifizierter Regelcharakteristik bei Kurvenfahrt
JP5418056B2 (ja) * 2009-08-14 2014-02-19 日産自動車株式会社 操舵制御装置
JP2015039256A (ja) 2013-03-15 2015-02-26 日本精工株式会社 モータ制御装置、これを使用した電動パワーステアリング装置及び車両
US9199665B2 (en) * 2013-05-15 2015-12-01 Jtekt Corporation Electric power steering system
JP5930131B2 (ja) 2014-03-20 2016-06-08 日本精工株式会社 電動機制御装置、電動パワーステアリング装置および車両
JP6663771B2 (ja) 2016-03-29 2020-03-13 株式会社Ｓｕｂａｒｕ 自動操舵装置
US9592850B1 (en) * 2016-04-22 2017-03-14 Denso Corporation Steering control apparatus
JP6760569B2 (ja) 2016-09-16 2020-09-23 日立オートモティブシステムズ株式会社 車両制御装置、車両制御方法および電動パワーステアリング装置
JP7027808B2 (ja) * 2016-11-11 2022-03-02 株式会社デンソー 回転電機制御装置、および、これを用いた電動パワーステアリング装置
WO2018088465A1 (ja) * 2016-11-11 2018-05-17 株式会社デンソー 回転電機制御装置、および、これを用いた電動パワーステアリング装置
JP2020082915A (ja) 2018-11-20 2020-06-04 株式会社ジェイテクト 操舵装置および操舵装置におけるモータ制御方法
JP7047738B2 (ja) * 2018-12-07 2022-04-05 株式会社デンソー ステアリングシステム
JP7170971B2 (ja) * 2019-04-18 2022-11-15 日本精工株式会社 車両用操向システムの制御装置
CN113825692B (zh) 2019-05-15 2022-09-09 日产自动车株式会社 转向控制方法及转向控制装置

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110382332A (zh) * 2017-03-09 2019-10-25 日立汽车系统株式会社 动力转向装置
CN109572803A (zh) * 2017-09-27 2019-04-05 株式会社捷太格特 车辆用控制装置

Also Published As

Publication number Publication date
JP7565456B2 (ja) 2024-10-10
EP4417495A4 (en) 2025-03-05
US12139197B1 (en) 2024-11-12
WO2023062907A1 (ja) 2023-04-20
US20240375713A1 (en) 2024-11-14
JPWO2023062907A1 (https=) 2023-04-20
EP4417495A1 (en) 2024-08-21
CN118103278A (zh) 2024-05-28

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