JP7662423B2 - 操舵制御装置 - Google Patents

操舵制御装置 Download PDF

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Publication number
JP7662423B2
JP7662423B2 JP2021095074A JP2021095074A JP7662423B2 JP 7662423 B2 JP7662423 B2 JP 7662423B2 JP 2021095074 A JP2021095074 A JP 2021095074A JP 2021095074 A JP2021095074 A JP 2021095074A JP 7662423 B2 JP7662423 B2 JP 7662423B2
Authority
JP
Japan
Prior art keywords
steering
control
deviation amount
range
value
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
JP2021095074A
Other languages
English (en)
Japanese (ja)
Other versions
JP2022187191A5 (enExample
JP2022187191A (ja
Inventor
義友輝 内野
勲 並河
憲治 柴田
孝文 佐藤
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.)
JTEKT Corp
Toyota Motor Corp
Original Assignee
JTEKT Corp
Toyota Motor 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 JTEKT Corp, Toyota Motor Corp filed Critical JTEKT Corp
Priority to JP2021095074A priority Critical patent/JP7662423B2/ja
Priority to CN202210615196.XA priority patent/CN115503810A/zh
Priority to US17/829,476 priority patent/US12179853B2/en
Priority to EP22177139.7A priority patent/EP4101734B1/en
Publication of JP2022187191A publication Critical patent/JP2022187191A/ja
Publication of JP2022187191A5 publication Critical patent/JP2022187191A5/ja
Application granted granted Critical
Publication of JP7662423B2 publication Critical patent/JP7662423B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

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
    • 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
    • B62D3/00—Steering gears
    • B62D3/02—Steering gears mechanical
    • B62D3/12—Steering gears mechanical of rack-and-pinion type
    • 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
    • B62D5/001—Mechanical components or aspects of steer-by-wire systems, not otherwise provided for in this maingroup
    • B62D5/005—Mechanical components or aspects of steer-by-wire systems, not otherwise provided for in this maingroup means for generating torque on steering wheel or input member, e.g. feedback
    • B62D5/006—Mechanical components or aspects of steer-by-wire systems, not otherwise provided for in this maingroup means for generating torque on steering wheel or input member, e.g. feedback power actuated
    • 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
    • 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
    • B62D6/002—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
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/008—Control of feed-back to the steering input member, e.g. simulating road feel in steer-by-wire applications

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)
JP2021095074A 2021-06-07 2021-06-07 操舵制御装置 Active JP7662423B2 (ja)

Priority Applications (4)

Application Number Priority Date Filing Date Title
JP2021095074A JP7662423B2 (ja) 2021-06-07 2021-06-07 操舵制御装置
CN202210615196.XA CN115503810A (zh) 2021-06-07 2022-06-01 转向控制装置
US17/829,476 US12179853B2 (en) 2021-06-07 2022-06-01 Steering control device
EP22177139.7A EP4101734B1 (en) 2021-06-07 2022-06-03 Steering control device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2021095074A JP7662423B2 (ja) 2021-06-07 2021-06-07 操舵制御装置

Publications (3)

Publication Number Publication Date
JP2022187191A JP2022187191A (ja) 2022-12-19
JP2022187191A5 JP2022187191A5 (enExample) 2024-06-06
JP7662423B2 true JP7662423B2 (ja) 2025-04-15

Family

ID=81940589

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2021095074A Active JP7662423B2 (ja) 2021-06-07 2021-06-07 操舵制御装置

Country Status (4)

Country Link
US (1) US12179853B2 (enExample)
EP (1) EP4101734B1 (enExample)
JP (1) JP7662423B2 (enExample)
CN (1) CN115503810A (enExample)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102019135047A1 (de) * 2019-12-19 2021-06-24 Bayerische Motoren Werke Aktiengesellschaft Steer-by-Wire-Lenksystem, Verfahren zum Betrieb eines Steer-by-Wire-Lenksystems und Fahrzeug
KR20230046373A (ko) * 2021-09-29 2023-04-06 에이치엘만도 주식회사 조향 제어 장치 및 방법
JP2024014071A (ja) * 2022-07-21 2024-02-01 株式会社ジェイテクト 車両用制御装置及び車両用制御方法
BE1032097B1 (de) * 2023-10-27 2025-05-26 Thyssenkrupp Presta Ag Steuereinheit, Steer-by-Wire-Lenksystem, Kraftfahrzeug und Verfahren zur Synchronisierung von Lenkrad- und Radstellung

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004231085A (ja) 2003-01-31 2004-08-19 Honda Motor Co Ltd 操舵装置
JP2006321434A (ja) 2005-05-20 2006-11-30 Tokai Rika Co Ltd 操舵装置
JP2007153109A (ja) 2005-12-05 2007-06-21 Tokai Rika Co Ltd バイワイヤ方式の転舵装置
WO2014108968A1 (ja) 2013-01-11 2014-07-17 日産自動車株式会社 車両用走行制御装置、車両用走行制御方法
US20200398891A1 (en) 2017-09-15 2020-12-24 Thyssenkrupp Presta Ag Actuator synchronization in a steer-by-wire steering system

Family Cites Families (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3586782B2 (ja) 1997-02-28 2004-11-10 光洋精工株式会社 車両用操舵装置
JP4238953B2 (ja) * 1999-11-08 2009-03-18 株式会社ジェイテクト 車両用操舵装置
US6922620B2 (en) 2001-11-06 2005-07-26 Delphi Technologies, Inc. Actuator synchronization and locking concept for steer by wire applications
DE10302559A1 (de) 2003-01-22 2004-09-09 Daimlerchrysler Ag Verfahren zur Synchronisation von Lenkhandhabe und gelenkten Fahrzeugrädern
US6928352B2 (en) 2003-02-20 2005-08-09 Visteon Global Technologies, Inc. System and method of initial aligning wheels of vehicle steer-by-wire systems
US6865462B2 (en) 2003-05-23 2005-03-08 Visteon Global Technologies, Inc. System and method for initial synchronization of steering wheel and road wheels in a steer-by-wire system
JP4604991B2 (ja) * 2005-12-07 2011-01-05 トヨタ自動車株式会社 車両の操舵装置
CN103010295B (zh) * 2011-09-26 2015-06-10 日产自动车株式会社 辅助保持行车道的装置
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
JP6729155B2 (ja) * 2016-08-08 2020-07-22 株式会社ジェイテクト アクチュエータ制御装置
JP2019127216A (ja) * 2018-01-26 2019-08-01 株式会社ジェイテクト 転舵制御装置
JP2019146291A (ja) * 2018-02-16 2019-08-29 マツダ株式会社 車両の制御方法、車両システム及び車両の制御装置
US11414122B2 (en) 2019-03-01 2022-08-16 Steering Solutions Ip Holding Corporation Handwheel-roadwheel resynchronization in steer-by-wire systems
JP7684793B2 (ja) * 2019-11-12 2025-05-28 株式会社Subaru 車両制御装置

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004231085A (ja) 2003-01-31 2004-08-19 Honda Motor Co Ltd 操舵装置
JP2006321434A (ja) 2005-05-20 2006-11-30 Tokai Rika Co Ltd 操舵装置
JP2007153109A (ja) 2005-12-05 2007-06-21 Tokai Rika Co Ltd バイワイヤ方式の転舵装置
WO2014108968A1 (ja) 2013-01-11 2014-07-17 日産自動車株式会社 車両用走行制御装置、車両用走行制御方法
US20200398891A1 (en) 2017-09-15 2020-12-24 Thyssenkrupp Presta Ag Actuator synchronization in a steer-by-wire steering system

Also Published As

Publication number Publication date
EP4101734B1 (en) 2025-09-10
JP2022187191A (ja) 2022-12-19
US20220388569A1 (en) 2022-12-08
CN115503810A (zh) 2022-12-23
EP4101734A1 (en) 2022-12-14
US12179853B2 (en) 2024-12-31

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