WO2009075295A1 - 操舵制御装置 - Google Patents

操舵制御装置 Download PDF

Info

Publication number
WO2009075295A1
WO2009075295A1 PCT/JP2008/072416 JP2008072416W WO2009075295A1 WO 2009075295 A1 WO2009075295 A1 WO 2009075295A1 JP 2008072416 W JP2008072416 W JP 2008072416W WO 2009075295 A1 WO2009075295 A1 WO 2009075295A1
Authority
WO
WIPO (PCT)
Prior art keywords
steering
angle
assist torque
control device
transmission function
Prior art date
Application number
PCT/JP2008/072416
Other languages
English (en)
French (fr)
Inventor
Chikara Okazaki
Takashi Doi
Original Assignee
Toyota Jidosha Kabushiki Kaisha
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 Toyota Jidosha Kabushiki Kaisha filed Critical Toyota Jidosha Kabushiki Kaisha
Priority to EP08859462A priority Critical patent/EP2218627A4/en
Priority to CN2008800195905A priority patent/CN101678856B/zh
Priority to US12/532,417 priority patent/US20100108432A1/en
Publication of WO2009075295A1 publication Critical patent/WO2009075295A1/ja

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
    • 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
    • B62D6/001—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits the torque NOT being among the input parameters

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Power Steering Mechanism (AREA)

Abstract

　操舵制御装置は、運転者による操舵に基づいてアシストトルクを付与するための制御を行う。具体的には、操舵制御装置は、入力された操舵角から実舵角までの伝達関数を所定の周波数応答に設定する。そして、当該周波数応答と、操舵角、実舵角、及びアシストトルクの間に成立する関係式における操舵角の伝達関数と、当該関係式におけるアシストトルクの伝達関数とに基づいて、操舵量に対するアシストトルクを決定する。このように決定されたアシストトルクに基づいて操舵アシストを行うことにより、操舵角に対する実舵角の応答を精度良く制御することが可能となる。
PCT/JP2008/072416 2007-12-12 2008-12-10 操舵制御装置 WO2009075295A1 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
EP08859462A EP2218627A4 (en) 2007-12-12 2008-12-10 STEERING CONTROL UNIT
CN2008800195905A CN101678856B (zh) 2007-12-12 2008-12-10 转向控制装置
US12/532,417 US20100108432A1 (en) 2007-12-12 2008-12-10 Steering control device

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2007-320618 2007-12-12
JP2007320618A JP4329859B2 (ja) 2007-12-12 2007-12-12 操舵制御装置

Publications (1)

Publication Number Publication Date
WO2009075295A1 true WO2009075295A1 (ja) 2009-06-18

Family

ID=40755537

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2008/072416 WO2009075295A1 (ja) 2007-12-12 2008-12-10 操舵制御装置

Country Status (5)

Country Link
US (1) US20100108432A1 (ja)
EP (1) EP2218627A4 (ja)
JP (1) JP4329859B2 (ja)
CN (1) CN101678856B (ja)
WO (1) WO2009075295A1 (ja)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2015058736A (ja) * 2013-09-17 2015-03-30 株式会社デンソー ステアリング制御装置
CN115489603A (zh) * 2022-09-14 2022-12-20 上海琪埔维半导体有限公司 一种车辆转向系统的转向精度补偿方法

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WO2011101979A1 (ja) * 2010-02-19 2011-08-25 三菱電機株式会社 操舵制御装置
JP5221600B2 (ja) * 2010-06-30 2013-06-26 トヨタ自動車株式会社 車両用操舵装置
DE102011055339B4 (de) * 2011-11-15 2018-06-14 Robert Bosch Automotive Steering Gmbh Verfahren zum bestimmen einer zahnstangenkraft für eine lenkvorrichtung und lenkvorrichtung
JP5994481B2 (ja) * 2012-08-22 2016-09-21 株式会社ジェイテクト 電動パワーステアリング装置
US8880287B2 (en) * 2013-03-06 2014-11-04 GM Global Technology Operations LLC Steering-wheel-hold detection for lane keeping assist feature
JP2016088436A (ja) * 2014-11-10 2016-05-23 株式会社デンソー モータ制御装置
US10160484B2 (en) * 2015-07-31 2018-12-25 GM Global Technology Operations LLC Enhanced steering wheel hold detection by a hybrid method
EP3334630B1 (en) 2015-08-14 2023-11-15 Crown Equipment Corporation Diagnostic supervisor to determine if a traction system is in a fault condition
WO2017030774A1 (en) 2015-08-14 2017-02-23 Crown Equipment Corporation Model based diagnostics based on steering model
DE102015118542A1 (de) * 2015-10-29 2017-05-04 Valeo Schalter Und Sensoren Gmbh Verfahren zum Bestimmen eines Radlenkwinkels von lenkbaren Rädern eines Kraftfahrzeugs unter Berücksichtigung des Drehmoments, Steuereinrichtung, Fahrerassistenzsystem sowie Kraftfahrzeug
KR102322485B1 (ko) * 2015-12-29 2021-11-09 주식회사 만도 조향 제어 장치 및 조향 제어 방법
AU2017393175B2 (en) 2017-01-13 2023-08-31 Crown Equipment Corporation Traction speed recovery based on steer wheel dynamic
CA3041343A1 (en) 2017-01-13 2018-07-19 Crown Equipment Corporation High speed straight ahead tiller desensitization
DE102017217084B4 (de) * 2017-09-26 2022-03-03 Robert Bosch Gmbh Verfahren zur Ansteuerung eines Lenksystems mit einer elektrischen Lenkunterstützung
US10768075B2 (en) * 2018-06-14 2020-09-08 GM Global Technology Operations LLC Rack disturbance test for determining the frequency response of an electric power steering system
US11027764B2 (en) * 2018-06-27 2021-06-08 Toyota Motor Engineering & Manufacturing North America, Inc. Vehicle driving mode safety system
WO2021029328A1 (ja) * 2019-08-09 2021-02-18 日本電産株式会社 電動パワーステアリング装置、電動パワーステアリング装置に用いられる制御装置、および制御方法
KR20210031075A (ko) * 2019-09-11 2021-03-19 주식회사 만도 조향 제어 장치 및 그 방법, 그리고 조향 시스템
CN114194287B (zh) * 2022-01-29 2023-03-21 中国第一汽车股份有限公司 电动助力转向系统的控制方法、装置、设备和存储介质

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JP2001334948A (ja) * 2000-05-25 2001-12-04 Nsk Ltd 電動パワーステアリング装置の制御装置
JP2002274404A (ja) * 2001-03-21 2002-09-25 Toyoda Mach Works Ltd 電動パワーステアリング装置
JP2004216952A (ja) * 2003-01-09 2004-08-05 Koyo Seiko Co Ltd 電動パワーステアリング装置
JP2004338616A (ja) * 2003-05-16 2004-12-02 Toyota Motor Corp 車両用電動パワーステアリング装置
JP2005247201A (ja) * 2004-03-05 2005-09-15 Koyo Seiko Co Ltd 電動パワーステアリング装置
JP2006151360A (ja) * 2004-10-27 2006-06-15 Nissan Motor Co Ltd 車両用操舵装置
JP2006298102A (ja) 2005-04-19 2006-11-02 Jtekt Corp 電動パワーステアリング装置
JP2006315632A (ja) * 2005-05-16 2006-11-24 Nissan Motor Co Ltd 車両用操舵制御装置及び車両用操舵制御方法
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JP2007237840A (ja) * 2006-03-07 2007-09-20 Nissan Motor Co Ltd 操舵制御装置、自動車及び操舵制御方法
JP2008094326A (ja) * 2006-10-13 2008-04-24 Toyota Motor Corp 電動パワーステアリング装置

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JP3067486B2 (ja) * 1993-09-10 2000-07-17 日産自動車株式会社 パワーステアリング装置のアシスト力制御装置
JP3636926B2 (ja) * 1999-05-11 2005-04-06 光洋精工株式会社 車両用操舵装置
US7219761B2 (en) * 2000-07-21 2007-05-22 Nsk Ltd. Motor-operated power steering apparatus
FR2814423B1 (fr) * 2000-09-26 2002-10-25 Siemens Automotive Sa Procede de determination d'un couple d'assistance dans une direction assistee electrique et dispositif de mise en oeuvre du procede
GB2372020A (en) * 2001-02-07 2002-08-14 Lucas Industries Ltd Haptic controller for electrically-assisted power steering in road vehicles
DE10115802A1 (de) * 2001-03-30 2003-01-23 Bayerische Motoren Werke Ag Überlagerungslenksystem für Kraftfahrzeuge
JP3969220B2 (ja) * 2002-07-04 2007-09-05 株式会社ジェイテクト 電動パワーステアリング装置の絶対位置検出装置及び絶対位置検出方法
JP3960266B2 (ja) * 2003-05-28 2007-08-15 トヨタ自動車株式会社 車輌用操舵制御装置
JP4639759B2 (ja) * 2004-11-09 2011-02-23 株式会社ジェイテクト 電動パワーステアリング装置

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Publication number Priority date Publication date Assignee Title
JP2001334948A (ja) * 2000-05-25 2001-12-04 Nsk Ltd 電動パワーステアリング装置の制御装置
JP2002274404A (ja) * 2001-03-21 2002-09-25 Toyoda Mach Works Ltd 電動パワーステアリング装置
JP2004216952A (ja) * 2003-01-09 2004-08-05 Koyo Seiko Co Ltd 電動パワーステアリング装置
JP2004338616A (ja) * 2003-05-16 2004-12-02 Toyota Motor Corp 車両用電動パワーステアリング装置
JP2005247201A (ja) * 2004-03-05 2005-09-15 Koyo Seiko Co Ltd 電動パワーステアリング装置
JP2006151360A (ja) * 2004-10-27 2006-06-15 Nissan Motor Co Ltd 車両用操舵装置
JP2006298102A (ja) 2005-04-19 2006-11-02 Jtekt Corp 電動パワーステアリング装置
JP2006315632A (ja) * 2005-05-16 2006-11-24 Nissan Motor Co Ltd 車両用操舵制御装置及び車両用操舵制御方法
JP2007008242A (ja) * 2005-06-29 2007-01-18 Nissan Motor Co Ltd 車両用操舵制御装置及び車両用操舵制御方法
JP2007237840A (ja) * 2006-03-07 2007-09-20 Nissan Motor Co Ltd 操舵制御装置、自動車及び操舵制御方法
JP2008094326A (ja) * 2006-10-13 2008-04-24 Toyota Motor Corp 電動パワーステアリング装置

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP2218627A4

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2015058736A (ja) * 2013-09-17 2015-03-30 株式会社デンソー ステアリング制御装置
CN115489603A (zh) * 2022-09-14 2022-12-20 上海琪埔维半导体有限公司 一种车辆转向系统的转向精度补偿方法

Also Published As

Publication number Publication date
JP2009143297A (ja) 2009-07-02
US20100108432A1 (en) 2010-05-06
EP2218627A4 (en) 2012-04-04
EP2218627A1 (en) 2010-08-18
CN101678856B (zh) 2012-07-04
CN101678856A (zh) 2010-03-24
JP4329859B2 (ja) 2009-09-09

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