JP6790991B2 - 車両の操舵支援装置および操舵支援制御方法 - Google Patents

車両の操舵支援装置および操舵支援制御方法 Download PDF

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Publication number
JP6790991B2
JP6790991B2 JP2017084921A JP2017084921A JP6790991B2 JP 6790991 B2 JP6790991 B2 JP 6790991B2 JP 2017084921 A JP2017084921 A JP 2017084921A JP 2017084921 A JP2017084921 A JP 2017084921A JP 6790991 B2 JP6790991 B2 JP 6790991B2
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Japan
Prior art keywords
steering
angle
vehicle
target differential
mode
Prior art date
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Active
Application number
JP2017084921A
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English (en)
Japanese (ja)
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JP2018184011A (ja
JP2018184011A5 (enExample
Inventor
庸介 平手
庸介 平手
大治 渡部
大治 渡部
久哉 赤塚
久哉 赤塚
利也 椛山
利也 椛山
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.)
Denso Corp
Original Assignee
Denso 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 Denso Corp filed Critical Denso Corp
Priority to JP2017084921A priority Critical patent/JP6790991B2/ja
Priority to US15/959,655 priority patent/US10745046B2/en
Publication of JP2018184011A publication Critical patent/JP2018184011A/ja
Publication of JP2018184011A5 publication Critical patent/JP2018184011A5/ja
Application granted granted Critical
Publication of JP6790991B2 publication Critical patent/JP6790991B2/ja
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    • 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
    • B62D6/003—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 in order to control vehicle yaw movement, i.e. around a vertical axis
    • 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
    • B62D15/021—Determination of steering angle
    • B62D15/0215—Determination of steering angle by measuring on the steering column
    • B62D15/022—Determination of steering angle by measuring on the steering column on or near the connection between the steering wheel and steering column
    • 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
    • B62D15/027—Parking aids, e.g. instruction means
    • B62D15/0285—Parking performed automatically
    • 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
    • B62D5/008—Changing the transfer ratio between the steering wheel and the steering gear by variable supply of energy, e.g. by using a superposition 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
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/007—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits adjustable by the driver, e.g. sport mode
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D3/00—Steering gears
    • B62D3/02—Steering gears mechanical
    • B62D3/12—Steering gears mechanical of rack-and-pinion type

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Combustion & Propulsion (AREA)
  • Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Mathematical Physics (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Power Steering Mechanism (AREA)
JP2017084921A 2017-04-24 2017-04-24 車両の操舵支援装置および操舵支援制御方法 Active JP6790991B2 (ja)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2017084921A JP6790991B2 (ja) 2017-04-24 2017-04-24 車両の操舵支援装置および操舵支援制御方法
US15/959,655 US10745046B2 (en) 2017-04-24 2018-04-23 Steering assist apparatus of vehicle and method for steering assist apparatus

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2017084921A JP6790991B2 (ja) 2017-04-24 2017-04-24 車両の操舵支援装置および操舵支援制御方法

Publications (3)

Publication Number Publication Date
JP2018184011A JP2018184011A (ja) 2018-11-22
JP2018184011A5 JP2018184011A5 (enExample) 2019-12-26
JP6790991B2 true JP6790991B2 (ja) 2020-11-25

Family

ID=63852616

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2017084921A Active JP6790991B2 (ja) 2017-04-24 2017-04-24 車両の操舵支援装置および操舵支援制御方法

Country Status (2)

Country Link
US (1) US10745046B2 (enExample)
JP (1) JP6790991B2 (enExample)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6784223B2 (ja) 2017-04-21 2020-11-11 株式会社デンソー 車両の操舵支援装置および操舵支援制御方法
DE102018200522A1 (de) * 2018-01-15 2019-07-18 Ford Global Technologies, Llc Lenkhilfevorrichtung für ein Kraftfahrzeug, Kraftfahrzeug
JP7316524B2 (ja) 2019-06-24 2023-07-28 株式会社ジェイテクト 操舵角演算装置およびそれを利用したモータ制御装置
DE112020005249T5 (de) * 2019-12-18 2022-08-11 Nsk Ltd. Fahrzeuglenkvorrichtung
DE102020133576A1 (de) * 2020-12-15 2022-06-15 Schaeffler Technologies AG & Co. KG Lenkanordnung und Fahrzeug sowie Verfahren zum Bestimmen eines Lenkmomentes einer Lenkung
DE102021202285A1 (de) * 2021-03-09 2022-09-15 Robert Bosch Gesellschaft mit beschränkter Haftung Vorrichtung und Verfahren zur Beeinflussung eines Fahrzeugverhaltens
CN113147749A (zh) * 2021-04-25 2021-07-23 重庆长安汽车股份有限公司 转弯a柱盲区障碍物提醒系统
DE102021131739B3 (de) * 2021-12-02 2022-09-15 Audi Ag Verfahren und Steuerschaltung zum Steuern einer aktiven Hinterachslenkung eines Kraftfahrzeugs während eines Anlenkens aus einer Geradeausfahrt heraus sowie Kraftfahrzeug mit der Steuerschaltung
KR20250046831A (ko) * 2023-09-27 2025-04-03 에이치엘만도 주식회사 차로 유지 보조 시스템의 이상 감지 방법 및 장치

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JP3687252B2 (ja) * 1997-02-28 2005-08-24 日産自動車株式会社 自動車の操舵装置
JP3409323B2 (ja) * 1997-12-16 2003-05-26 トヨタ自動車株式会社 車両用操舵制御装置
JP4283550B2 (ja) * 2003-01-24 2009-06-24 本田技研工業株式会社 操舵装置
JP4635887B2 (ja) * 2006-01-31 2011-02-23 トヨタ自動車株式会社 ステアリング装置
JP4329792B2 (ja) * 2006-08-10 2009-09-09 トヨタ自動車株式会社 電動パワーステアリング装置
JP4973687B2 (ja) * 2009-05-13 2012-07-11 トヨタ自動車株式会社 走行支援装置
WO2011048772A1 (ja) * 2009-10-20 2011-04-28 本田技研工業株式会社 電動パワーステアリング装置
WO2014119359A1 (ja) * 2013-01-29 2014-08-07 日本精工株式会社 電動パワーステアリング装置
WO2014136516A1 (ja) * 2013-03-07 2014-09-12 日本精工株式会社 電動パワーステアリング装置
JP5939238B2 (ja) * 2013-11-29 2016-06-22 トヨタ自動車株式会社 車両用操舵制御装置
JP6028745B2 (ja) 2014-01-24 2016-11-16 トヨタ自動車株式会社 車両用操舵制御装置
WO2015140759A1 (en) 2014-03-20 2015-09-24 American Dynamics Fight Systems, Inc. Bluff body adaptive wake reduction system
FR3022515B1 (fr) * 2014-06-24 2016-07-29 Jtekt Europe Sas Assistance de direction mixte comprenant une boucle d'asservissement en couple pilotee en consigne par un controleur de position destine a l'asservissement en trajectoire
WO2016006013A1 (ja) * 2014-07-07 2016-01-14 三菱電機株式会社 操舵制御装置、操舵制御システム、操舵制御方法、及び操舵制御プログラム
KR20170085633A (ko) * 2016-01-14 2017-07-25 주식회사 만도 전동식 파워 스티어링 제어 방법 및 그 장치
JP6801565B2 (ja) * 2017-04-21 2020-12-16 株式会社デンソー 車両の操舵支援装置および操舵支援方法
JP6784223B2 (ja) * 2017-04-21 2020-11-11 株式会社デンソー 車両の操舵支援装置および操舵支援制御方法
US10377409B2 (en) * 2017-08-17 2019-08-13 Ford Global Technologies, Llc Enhanced vehicle steering

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Publication number Publication date
JP2018184011A (ja) 2018-11-22
US20180304922A1 (en) 2018-10-25
US10745046B2 (en) 2020-08-18

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