WO2013179351A1 - 操舵伝達系の特性変化検出装置 - Google Patents
操舵伝達系の特性変化検出装置 Download PDFInfo
- Publication number
- WO2013179351A1 WO2013179351A1 PCT/JP2012/003606 JP2012003606W WO2013179351A1 WO 2013179351 A1 WO2013179351 A1 WO 2013179351A1 JP 2012003606 W JP2012003606 W JP 2012003606W WO 2013179351 A1 WO2013179351 A1 WO 2013179351A1
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- steering
- transmission system
- vehicle
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Classifications
-
- 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
- B62D6/005—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 treating sensor outputs to obtain the actual yaw rate
-
- 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
- B62D5/0481—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 monitoring the steering system, e.g. failures
Definitions
- the present invention relates to a technique for detecting a characteristic change in a steering transmission system.
- VSC Vehicle Stability Control
- various controls are executed using detection values of a steering angle sensor attached to a steering wheel.
- a steering angle sensor that outputs a relative angle is used, first, a zero point (neutral position) of the steering angle sensor is detected, and a steering absolute angle is calculated based on the detected zero point (see, for example, Patent Document 1). . For this reason, it is important to accurately detect the steering angle zero point.
- the present invention has been made in view of such circumstances, and an object thereof is to provide a technique for detecting a change in characteristics of an elastic member in a steering transmission system while a vehicle is traveling.
- a certain aspect of the present invention is a characteristic change detection device for a steering transmission system.
- This device includes a steering torque sensor that detects a steering torque of a steering wheel, a steering angle sensor that detects a steering angle of the steering wheel, and a vehicle target that is calculated from the steering angle when the steering torque is equal to or less than a predetermined value. And an abnormality determination unit that determines that the characteristic change of the steering transmission system is detected when the difference between the behavior and the actual vehicle behavior is equal to or greater than a predetermined value during a predetermined period.
- the characteristic change of the steering transmission system due to aging deterioration of elastic parts such as rubber bushes (for example, occurrence of backlash) ) can be detected.
- the present invention it is possible to detect the characteristic change of the elastic member in the steering transmission system while the vehicle is traveling.
- FIG. 1 is a diagram illustrating a schematic configuration of a vehicle including a steering transmission system characteristic change detection device according to an embodiment of the present invention. It is a functional block diagram which shows the structure of the part which concerns in the characteristic change detection of the steering transmission system which concerns on this embodiment among brake ECUs. It is a figure explaining the method to determine whether the target vehicle state calculated
- FIG. 1 shows a schematic configuration of a vehicle 10 including a steering transmission system characteristic change detection device according to an embodiment of the present invention.
- FIG. 1 is a schematic diagram of a front wheel portion of a four-wheel vehicle. The traveling direction of the vehicle is changed by steering the right front wheel FR and the left front wheel FL which are steered wheels.
- the vehicle 10 includes an electric power steering device (hereinafter referred to as “EPS”).
- EPS is for steering assist in which a steering wheel 12 steered by a driver, a steering shaft 14 coupled to the steering wheel, a speed reduction mechanism 44 provided at the lower end of the steering shaft, and an output shaft connected to the speed reduction mechanism 44.
- the steering assist motor 24 applies an assist force for assisting the steering operation by rotating the steering shaft 14.
- the steering shaft 14 is provided with a torsion bar (not shown), a steering torque sensor 16 that detects torque generated in the torsion bar, and a steering angle sensor 18 that detects the steering angle of the steering wheel 12. Outputs of these sensors are transmitted to a steering electronic control unit (ECU) 70 and a brake ECU 100.
- ECU steering electronic control unit
- the steering shaft 14 is connected to the intermediate shaft 17 and the pinion shaft 19 via universal joints 30 and 32.
- the pinion shaft 19 is connected to a rack and pinion mechanism 20 including a rack bar 22 that extends in the left-right direction (vehicle width direction) of the vehicle and slides in the axial direction.
- the intermediate shaft 17 includes a rubber coupling as a part thereof.
- the rack and pinion mechanism 20 is configured by meshing pinion teeth formed at one end of the pinion shaft 19 with a rack shaft.
- the rack and pinion mechanism 20 is supported by the vehicle body via a steering gear mount bushing 23.
- the rotation of the steering shaft 14 is transmitted to the rack and pinion mechanism 20 through the shafts 17 and 19, and the rack and pinion mechanism 20 converts the rack bar 22 into a linear motion in the horizontal direction.
- One end of a tie rod (not shown) is connected to each end of the rack bar 22.
- the other end of the tie rod is connected to a knuckle arm (not shown) that supports the right front wheel FR and the left front wheel FL.
- the rack bar 22 moves linearly, the right front wheel FR and the left front wheel FL are steered.
- a vehicle speed sensor 36 that detects the rotational speed of the wheel and outputs the vehicle speed is attached.
- the vehicle speed may be obtained from GPS (Global Positioning System) data (not shown).
- GPS Global Positioning System
- a lateral acceleration sensor 42 for detecting the lateral acceleration of the vehicle body is also provided on the vehicle body. Values detected by these sensors are transmitted to the brake ECU 100.
- the steering ECU 70 calculates an assist value of the steering torque based on the detection value received from each sensor, and outputs a control signal corresponding to the assist value to the steering assist motor 24.
- the steering mechanism itself including EPS as described above is well known, further detailed description is omitted in this specification.
- the brake ECU 100 determines whether to operate the VSC based on the steering angle. For this reason, if the steering angle is not detected, the operation timing of the VSC becomes inappropriate, or the brake control amount by the VSC becomes inappropriate.
- the characteristic change of the elastic member in the steering transmission system is detected based on the information detected by the steering angle sensor and the steering torque sensor provided in the EPS.
- FIG. 2 is a functional block diagram showing a configuration of a part of the brake ECU 100 that is involved in detecting a characteristic change of the steering transmission system according to the present embodiment.
- Each block shown here can be realized in hardware by an element and an electric circuit including a CPU and memory of a computer, and is realized by a computer program in terms of software. It is drawn as a functional block to be realized. Therefore, those skilled in the art will understand that these functional blocks can be realized in various forms by a combination of hardware and software.
- the steering torque determination unit 102 receives the detection value MT of the steering torque sensor 16 and determines whether the steering torque is smaller than a predetermined value. This determination is to determine whether or not the vehicle is in a driving state with a small steering force that does not operate the VSC, for example, a driving state in which steering can be performed with a light hand on the steering wheel. 2 Nm.
- the reason why the steering transmission system abnormality determination described below is performed in a region where the steering torque is small is as follows. That is, if the steering torque is small, the axial force applied to the tie rod is very small, so that the force applied to each part of the steering transmission system such as the rack and pinion mechanism 20 is also small. This is because, in this situation, the change in the vehicle behavior is small and the influence on the abnormality determination by the vehicle behavior is small, so it is considered suitable for accurate abnormality determination.
- the target value calculation unit 104 receives the detection value V of the vehicle speed sensor 36 and the detection value MA of the steering angle sensor 18, and from this value, a target lateral acceleration (hereinafter referred to as “target Gy”) or a target yaw rate (hereinafter referred to as “target YR”). One of the above) is calculated.
- the target Gy or the target YR is calculated by the following formula.
- Target Gy V 2 ⁇ MA / N / WB
- Target YR V ⁇ MA / N / WB
- N represents an overall steering ratio (steering angle / steering wheel turning angle)
- WR is a wheel base.
- the abnormality determination unit 106 uses the target Gy or target YR calculated by the target value calculation unit 104 and a detection value (hereinafter referred to as “measured Gy”) by the lateral acceleration sensor 42 or a detection value (hereinafter referred to as “measured YR”) by the yaw rate sensor 48. To determine whether or not the vehicle state estimated from the steering angle of the steering wheel matches the actual vehicle state. This determination method will be described later with reference to FIG. If they do not match, the abnormality determination unit 106 determines that a characteristic change of the steering transmission system has occurred.
- the brake control amount instruction unit 108 gradually decreases the brake control amount in the VSC when the abnormality determination unit 106 determines that the characteristic change of the steering transmission system has occurred, and finally the VSC control. To stop. More specifically, the hydraulic pressure of the wheel cylinder installed in each wheel is controlled according to the VSC brake control amount.
- FIG. 3 is a conceptual diagram for explaining a method of determining whether or not the vehicle state estimated from the steering angle of the steering wheel and the actual vehicle state match by the abnormality determination unit 106.
- the horizontal axis represents the target Gy (or target YR) calculated from the steering angle of the steering wheel
- the vertical axis represents the actual measurement Gy (or actual measurement YR) detected by the lateral acceleration sensor 42 or the yaw rate sensor 48.
- the target Gy (or target YR) during the driving operation (hereinafter referred to as “one steering”) until the steering wheel is steered and returned from the state in which the vehicle is traveling straight ahead and returns to straight traveling again.
- the measured Gy (or measured YR). Note that this one steering is preferably performed within a relatively short time (for example, 30 seconds) in which the influence of the temperature drift of the lateral acceleration sensor or the yaw rate sensor can be ignored.
- the steering transmission system abnormality determination is performed only when the steering torque MT is small, the above-described process of “straight forward ⁇ steer ⁇ return ⁇ straight forward” has a relatively small steering angle such as lane change. Limited to those that occur during small driving operations.
- the thin solid line in the figure shows the relationship between the target Gy (or target YR) and the actual measurement Gy (or actual measurement YR) in a normal vehicle, that is, a vehicle in which the characteristics of the steering transmission system have not changed.
- a normal vehicle there is a hysteresis component due to play or friction of the steering wheel, and thus a perfect proportional relationship is not achieved, but there is a nearly proportional relationship between the two. Therefore, the graph in the figure has an elongated annular shape extending from the lower left to the upper right.
- a section from the origin to the upper right and a section from the origin to the lower left correspond to the cutting of the steering wheel, and a section from the upper right to the origin and a section from the lower left to the origin correspond to the return of the steering wheel.
- the sign of the steering torque and the steering angle corresponds to either clockwise or counterclockwise rotation from the neutral position.
- the thick solid line in the figure shows the relationship between the target Gy (or target YR) and the actual measurement Gy (or actual measurement YR) in a vehicle in which a characteristic change occurs in the steering transmission system. It can be seen that the proportional relationship between the target Gy (or target YR) and the actual measurement Gy (or actual measurement YR) breaks down, and the graph has a large annular shape. As described above, the proportional relationship is lost in the vehicle in which the characteristic change occurs in the steering transmission system because it takes time for the turning angle of the steering wheel to follow the change in the steering angle. This is thought to be due to the fact that there is a problem and the rigidity of the parts is reduced.
- the abnormality determination unit 106 has exceeded the predetermined number of times that the absolute value of the difference between the target Gy (or target YR) and the actual measurement Gy (or actual measurement YR) has exceeded the reference value. At this time, it is determined that the characteristic change of the steering transmission system has occurred.
- the abnormality determination unit 106 detects an event in which a line representing the relationship between the target Gy (or target YR) and the actual measurement Gy (or actual measurement YR) exceeds a predetermined threshold line indicated by a dotted line in FIG. It may be determined that the characteristic change of the steering transmission system has occurred when the number of times (represented by white circles) reaches a predetermined number (for example, four times) or more.
- These threshold lines are, for example, a target Gy (or target YR) and an actual measurement Gy (or actual measurement YR) when it is assumed that there is a deviation (for example, ⁇ 15 °) between the steering angle and the steering wheel turning angle. As a curve indicating the relationship between them, it is preset by experiment or simulation.
- the reason why the abnormality determination unit 106 performs the determination based on the count of the number of times exceeding the threshold line is that the measured Gy (or measured YR) is the target Gy ( Alternatively, there may be a case where there is a deviation from the actual measurement YR), so that erroneous determination based on detection of a single event is avoided.
- FIG. 4 is a flowchart showing abnormality determination of the steering transmission system according to the present embodiment.
- the steering torque determination part 102 determines whether the detection value MT of the steering torque sensor 16 is below a threshold value (S12). If the steering torque detection value MT is equal to or less than the threshold value (Y in S12), the target value calculation unit 104 calculates the target Gy or the target YR from the detection value MA of the steering angle sensor 18 (S14).
- the abnormality determination unit 106 uses FIG. 3 to determine whether or not the target Gy or target YR calculated in S14 and the actual measurement Gy or actual measurement YR by the lateral acceleration sensor 42 or the yaw rate sensor 48 are inconsistent. The determination is made by the method described above (S16). If they do not match (Y in S16), it is determined that a characteristic change of the steering transmission system has occurred (S18). At this time, the brake control amount instruction unit 108 decreases the brake control amount in the VSC over time corresponding to the value of the actual measurement Gy or the actual measurement YR (S20). For example, as shown in FIG. 5, upper and lower limit guards may be applied to the time.
- a change in the characteristics of the steering transmission system due to deterioration over time of an elastic part such as a rubber bush using the detected values of the steering torque sensor and the steering angle sensor provided in the EPS (see FIG. For example, it is possible to detect the occurrence of backlash.
- the present invention is not limited to the above-described embodiments, and various modifications such as design changes can be added based on the knowledge of those skilled in the art.
- the configuration shown in each drawing is for explaining an example, and can be appropriately changed as long as the configuration can achieve the same function.
- the steering is performed. It was stated that it was judged that the characteristic change of the transmission system occurred.
- this determination is not limited to one steering.
- the determination may be performed when the vehicle is traveling straight, or may be performed when one steering is performed a plurality of times.
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- 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)
- Regulating Braking Force (AREA)
- Power Steering Mechanism (AREA)
Abstract
Description
目標Gy=V2・MA/N/WB
目標YR=V・MA/N/WB
ここで、Nはオーバーオールステアリング比(操舵角/操舵輪切れ角)を表し、WRはホイールベースである。これらの値は、予め目標値算出部104に記録されている。
Claims (3)
- ステアリングホイールの操舵トルクを検出する操舵トルクセンサと、
ステアリングホイールの操舵角を検出する操舵角センサと、
操舵トルクが所定値以下であるときに、操舵角から算出される車両の目標挙動と実際の車両挙動との差分が基準値以上となった回数が所定期間中に所定回数以上であるとき、操舵伝達系の特性変化と判定する異常判定部と、
を備えることを特徴とする操舵伝達系の特性変化検出装置。 - 前記所定期間が一操舵であることを特徴とする請求項1に記載の特性変化検出装置。
- 車両挙動を測定するセンサとして横加速度センサまたはヨーレートセンサを備えることを特徴とする請求項1または2に記載の特性変化検出装置。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
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DE112012006440.2T DE112012006440B4 (de) | 2012-05-31 | 2012-05-31 | Eigenschaftsänderungs-Erfassungseinrichtung für ein Lenkgetriebesystem |
JP2014518096A JP5804201B2 (ja) | 2012-05-31 | 2012-05-31 | 操舵伝達系の特性変化検出装置 |
CN201280073481.8A CN104379432B (zh) | 2012-05-31 | 2012-05-31 | 转向操纵传递系统的特性变化检测装置 |
US14/403,430 US9393994B2 (en) | 2012-05-31 | 2012-05-31 | Characteristic change detection device for steering transmission system |
PCT/JP2012/003606 WO2013179351A1 (ja) | 2012-05-31 | 2012-05-31 | 操舵伝達系の特性変化検出装置 |
Applications Claiming Priority (1)
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PCT/JP2012/003606 WO2013179351A1 (ja) | 2012-05-31 | 2012-05-31 | 操舵伝達系の特性変化検出装置 |
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WO2013179351A1 true WO2013179351A1 (ja) | 2013-12-05 |
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US (1) | US9393994B2 (ja) |
JP (1) | JP5804201B2 (ja) |
CN (1) | CN104379432B (ja) |
DE (1) | DE112012006440B4 (ja) |
WO (1) | WO2013179351A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20210323602A1 (en) * | 2018-07-16 | 2021-10-21 | Robert Bosch Gmbh | Method for Ascertaining and/or Monitoring a Mechanical State of a Tie Rod Apparatus |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
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US10821881B2 (en) * | 2017-07-05 | 2020-11-03 | Ford Global Technologies, Llc | Determining a steering angle for an automobile application |
US10427711B2 (en) * | 2017-07-18 | 2019-10-01 | GM Global Technology Operations LLC | Method of self-diagnosis for power steering assembly |
JP6988579B2 (ja) * | 2018-03-05 | 2022-01-05 | いすゞ自動車株式会社 | 制御装置及び制御方法 |
US11332157B2 (en) * | 2018-07-03 | 2022-05-17 | Mitsubishi Electric Corporation | Vehicle control apparatus |
JP7235015B2 (ja) * | 2020-07-17 | 2023-03-08 | トヨタ自動車株式会社 | 自動操舵システム |
CN114148411B (zh) * | 2021-12-16 | 2022-12-13 | 北京理工大学 | 一种轮式无人平台的漂移控制方法 |
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2012
- 2012-05-31 CN CN201280073481.8A patent/CN104379432B/zh not_active Expired - Fee Related
- 2012-05-31 US US14/403,430 patent/US9393994B2/en active Active
- 2012-05-31 DE DE112012006440.2T patent/DE112012006440B4/de not_active Expired - Fee Related
- 2012-05-31 JP JP2014518096A patent/JP5804201B2/ja not_active Expired - Fee Related
- 2012-05-31 WO PCT/JP2012/003606 patent/WO2013179351A1/ja active Application Filing
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US11492038B2 (en) * | 2018-07-16 | 2022-11-08 | Robert Bosch Gmbh | Method for ascertaining and/or monitoring a mechanical state of a tie rod apparatus |
Also Published As
Publication number | Publication date |
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DE112012006440T5 (de) | 2015-03-12 |
US9393994B2 (en) | 2016-07-19 |
JPWO2013179351A1 (ja) | 2016-01-14 |
CN104379432A (zh) | 2015-02-25 |
JP5804201B2 (ja) | 2015-11-04 |
DE112012006440B4 (de) | 2016-12-29 |
US20150120139A1 (en) | 2015-04-30 |
CN104379432B (zh) | 2016-09-21 |
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