JP7389605B2 - 操舵制御装置 - Google Patents
操舵制御装置 Download PDFInfo
- Publication number
- JP7389605B2 JP7389605B2 JP2019181089A JP2019181089A JP7389605B2 JP 7389605 B2 JP7389605 B2 JP 7389605B2 JP 2019181089 A JP2019181089 A JP 2019181089A JP 2019181089 A JP2019181089 A JP 2019181089A JP 7389605 B2 JP7389605 B2 JP 7389605B2
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- Prior art keywords
- steering
- gain
- steering angle
- wheel
- steered
- 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.)
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- 230000008859 change Effects 0.000 claims description 8
- 238000010586 diagram Methods 0.000 description 15
- 238000000034 method Methods 0.000 description 14
- 230000006870 function Effects 0.000 description 12
- 230000008569 process Effects 0.000 description 11
- 230000001133 acceleration Effects 0.000 description 8
- 238000012545 processing Methods 0.000 description 7
- 230000007935 neutral effect Effects 0.000 description 5
- 238000013459 approach Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
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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
-
- 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
-
- 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
-
- 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
-
- 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
- B62D6/02—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to vehicle speed
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)
Description
Claims (4)
- ステアリングの操作量に基づいて転舵輪アクチュエータを駆動して転舵輪の舵角を変更し、前記転舵輪アクチュエータの制御量を演算する演算装置を備えた操舵制御装置であって、
前記演算装置は、
前記ステアリングの切込みにおいては、ステアリング操舵角に対する前記転舵輪の実舵角の比率が変化する第1ゲインにより前記転舵輪アクチュエータを制御し、
前記ステアリングの切戻しにおいては前記第1ゲインと異なる第2ゲインにより前記転舵輪アクチュエータを制御し、
前記第1ゲインは、ステアリング操舵角に対する前記転舵輪の実舵角の比率が上に凸な連続関数とし、
前記上に凸な連続関数は、ステアリング操舵角と操舵角速度に基づいて演算することを特徴とする操舵制御装置。 - 請求項1記載の操舵制御装置であって、
前記第2ゲインは、線形であることを特徴とする操舵制御装置。 - 請求項2記載の操舵制御装置であって、
前記演算装置は、
前記ステアリングの切戻し開始時における前記転舵輪の実舵角に基づいて、ステアリング操舵角と前記転舵輪の実舵角の比率を演算することを特徴とする操舵制御装置。 - ステアリングの操作量に基づいて転舵輪アクチュエータを駆動して転舵輪の舵角を変更し、前記転舵輪アクチュエータの制御量を演算する演算装置を備えた操舵制御装置であって、
前記演算装置は、
前記ステアリングの切込みにおいては、ステアリング操舵角に対する前記転舵輪の実舵角の比率が変化する第1ゲインにより前記転舵輪アクチュエータを制御し、
前記ステアリングの切戻しにおいては前記第1ゲインと異なる第2ゲインにより前記転舵輪アクチュエータを制御し、
車速が所定の速度未満であり、シフトレバーが後退に入ったことを条件として、前記第1ゲイン及び前記第2ゲインにより前記転舵輪アクチュエータを制御することを特徴とする操舵制御装置。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019181089A JP7389605B2 (ja) | 2019-10-01 | 2019-10-01 | 操舵制御装置 |
PCT/JP2020/034275 WO2021065408A1 (ja) | 2019-10-01 | 2020-09-10 | 操舵制御装置及び操舵制御方法 |
CN202080061525.XA CN114340977B (zh) | 2019-10-01 | 2020-09-10 | 操舵控制装置及操舵控制方法 |
US17/761,340 US20220340195A1 (en) | 2019-10-01 | 2020-09-10 | Steering control device and steering control method |
DE112020003994.3T DE112020003994T5 (de) | 2019-10-01 | 2020-09-10 | Lenksteuerungsvorrichtung und lenksteuerungsverfahren |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019181089A JP7389605B2 (ja) | 2019-10-01 | 2019-10-01 | 操舵制御装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2021054337A JP2021054337A (ja) | 2021-04-08 |
JP7389605B2 true JP7389605B2 (ja) | 2023-11-30 |
Family
ID=75272137
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2019181089A Active JP7389605B2 (ja) | 2019-10-01 | 2019-10-01 | 操舵制御装置 |
Country Status (5)
Country | Link |
---|---|
US (1) | US20220340195A1 (ja) |
JP (1) | JP7389605B2 (ja) |
CN (1) | CN114340977B (ja) |
DE (1) | DE112020003994T5 (ja) |
WO (1) | WO2021065408A1 (ja) |
Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2002046639A (ja) | 2000-08-07 | 2002-02-12 | Koyo Seiko Co Ltd | 車両用操舵装置 |
JP2003081109A (ja) | 2001-09-10 | 2003-03-19 | Nissan Motor Co Ltd | 車両用舵角比制御装置 |
JP2007090924A (ja) | 2005-09-27 | 2007-04-12 | Toyota Motor Corp | 車両の操舵装置 |
JP2007137400A (ja) | 2005-10-20 | 2007-06-07 | Toyota Motor Corp | 車両の操舵装置 |
JP2008062788A (ja) | 2006-09-07 | 2008-03-21 | Toyota Motor Corp | 車両の操舵装置 |
US20100025144A1 (en) | 2008-07-31 | 2010-02-04 | Gm Global Technology Operations, Inc. | Control adaptation of variable gear ratio steering |
JP2012228988A (ja) | 2011-04-27 | 2012-11-22 | Jtekt Corp | 車両用操舵装置 |
JP2012254705A (ja) | 2011-06-08 | 2012-12-27 | Jtekt Corp | 車両用操舵装置及び荷役車両 |
JP2016107871A (ja) | 2014-12-08 | 2016-06-20 | 株式会社ジェイテクト | 車両用操舵装置 |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0128965Y2 (ja) | 1985-07-12 | 1989-09-04 | ||
JP3646026B2 (ja) * | 1999-10-12 | 2005-05-11 | 光洋精工株式会社 | 車両用操舵装置 |
JP2004042796A (ja) | 2002-07-12 | 2004-02-12 | Toyoda Mach Works Ltd | 車両の運動制御方法および車両の運動制御装置 |
JP5298822B2 (ja) * | 2008-12-12 | 2013-09-25 | 日本精工株式会社 | 電動パワーステアリング装置 |
JP5265808B2 (ja) * | 2010-03-04 | 2013-08-14 | 本田技研工業株式会社 | 車両の旋回制御装置 |
-
2019
- 2019-10-01 JP JP2019181089A patent/JP7389605B2/ja active Active
-
2020
- 2020-09-10 WO PCT/JP2020/034275 patent/WO2021065408A1/ja active Application Filing
- 2020-09-10 US US17/761,340 patent/US20220340195A1/en active Pending
- 2020-09-10 DE DE112020003994.3T patent/DE112020003994T5/de active Pending
- 2020-09-10 CN CN202080061525.XA patent/CN114340977B/zh active Active
Patent Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2002046639A (ja) | 2000-08-07 | 2002-02-12 | Koyo Seiko Co Ltd | 車両用操舵装置 |
JP2003081109A (ja) | 2001-09-10 | 2003-03-19 | Nissan Motor Co Ltd | 車両用舵角比制御装置 |
JP2007090924A (ja) | 2005-09-27 | 2007-04-12 | Toyota Motor Corp | 車両の操舵装置 |
JP2007137400A (ja) | 2005-10-20 | 2007-06-07 | Toyota Motor Corp | 車両の操舵装置 |
JP2008062788A (ja) | 2006-09-07 | 2008-03-21 | Toyota Motor Corp | 車両の操舵装置 |
US20100025144A1 (en) | 2008-07-31 | 2010-02-04 | Gm Global Technology Operations, Inc. | Control adaptation of variable gear ratio steering |
JP2012228988A (ja) | 2011-04-27 | 2012-11-22 | Jtekt Corp | 車両用操舵装置 |
JP2012254705A (ja) | 2011-06-08 | 2012-12-27 | Jtekt Corp | 車両用操舵装置及び荷役車両 |
JP2016107871A (ja) | 2014-12-08 | 2016-06-20 | 株式会社ジェイテクト | 車両用操舵装置 |
Also Published As
Publication number | Publication date |
---|---|
CN114340977B (zh) | 2023-09-29 |
US20220340195A1 (en) | 2022-10-27 |
JP2021054337A (ja) | 2021-04-08 |
DE112020003994T5 (de) | 2022-06-02 |
CN114340977A (zh) | 2022-04-12 |
WO2021065408A1 (ja) | 2021-04-08 |
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