WO2017073202A1 - センサ装置及び電動パワーステアリング装置 - Google Patents
センサ装置及び電動パワーステアリング装置 Download PDFInfo
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- WO2017073202A1 WO2017073202A1 PCT/JP2016/077695 JP2016077695W WO2017073202A1 WO 2017073202 A1 WO2017073202 A1 WO 2017073202A1 JP 2016077695 W JP2016077695 W JP 2016077695W WO 2017073202 A1 WO2017073202 A1 WO 2017073202A1
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- Prior art keywords
- sensor
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- power supply
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Classifications
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- 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
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- 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
-
- 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
- B62D5/0484—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 for reaction to failures, e.g. limp home
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- 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
- B62D5/0409—Electric motor acting on the steering column
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- 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
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- 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
- B62D5/049—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 detecting sensor failures
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2422/00—Indexing codes relating to the special location or mounting of sensors
- B60W2422/50—Indexing codes relating to the special location or mounting of sensors on a steering column
Definitions
- the present invention relates to a sensor device and an electric power steering device.
- JP 2015-34737A discloses a sensor device for an electric power steering apparatus having a plurality of power supplies for supplying power to a plurality of sensors.
- JP2015-34737A by providing a plurality of sensors, redundancy is performed to reliably detect the state quantity and increase the safety of the electric power steering device.
- power is supplied to a plurality of sensors from a plurality of independent power sources. For this reason, if the power supply fails, the corresponding sensor may not operate and the redundancy may be impaired.
- An object of the present invention is to improve the stability of detection by a sensor device of an electric power steering device.
- a sensor device used in an electric power steering device, and a plurality of detection units that detect the same state information in the electric power steering device, a plurality of power sources, and a plurality of power sources, respectively.
- a plurality of power supply lines connected to each power supply and capable of supplying power to all of the plurality of detection units; and a switching unit that selectively switches among the plurality of power supply lines to supply power to the plurality of detection units.
- FIG. 1 is a configuration diagram of an electric power steering apparatus according to an embodiment of the present invention.
- FIG. 2 is a block diagram showing the sensor device according to the embodiment of the present invention.
- the electric power steering apparatus 101 includes an input shaft 3 that is rotated by a steering torque input from the steering handle 1, an output shaft 4 whose lower end is linked to a rack shaft 10, an input shaft 3, and an output shaft. 4 and a torsion bar 5 connecting the The electric power steering device 101 steers the wheel 8 by moving the rack shaft 10 that meshes with the pinion 6 provided at the lower end of the output shaft 4 in the axial direction.
- the input shaft 3 and the output shaft 4 constitute a steering shaft 2.
- the electric power steering device 101 includes an electric motor 20 that is a power source for assisting the steering of the steering handle 1 by a driver, a speed reducer 21 that decelerates and transmits the rotation of the electric motor 20 to the steering shaft 2, and electric power.
- a sensor device 100 that detects a steering torque as state information of the steering device 101, and an ECU 30 that includes a motor controller 31 (see FIG. 2) that controls the driving of the electric motor 20 based on the detection result of the sensor device 100.
- the electric motor 20 is provided with a resolver 22 as an angle detector that detects the rotation angle of the electric motor 20.
- the detection result of the resolver 22 is output to the motor controller 31.
- the motor controller 31 calculates the rotational speed of the electric motor 20 based on the detection result of the resolver 22.
- the angle detector is not limited to the resolver 22 and may be any device that detects the rotation angle of the electric motor 20.
- the angle detector may be a hall sensor or the like.
- the reduction gear 21 includes a worm shaft 21a connected to a rotating shaft (not shown) of the electric motor 20 and a worm wheel 21b connected to the output shaft 4 and meshing with the worm shaft 21a.
- the torque output by the electric motor 20 is transmitted from the worm shaft 21a to the worm wheel 21b and applied to the output shaft 4 as assist torque.
- the sensor device 100 includes a torque sensor 40 that detects a steering torque input from the steering handle 1, and first and second internal power sources 43 and 44 as a plurality of power sources provided in the ECU 30.
- the first power supply line 50 that can supply power to the torque sensor 40 from the first internal power supply 43
- the second power supply line 51 that can supply power to the torque sensor 40 from the second internal power supply 44
- the first power supply line 50 A first changeover switch 45 that switches between energization and interruption of the first power supply line 50 and a second changeover switch 46 that is provided in the second power supply line 51 and switches between energization and interruption of the second power supply line 51.
- the torque sensor 40 detects the steering torque applied to the torsion bar 5 based on the relative rotation of the input shaft 3 and the output shaft 4.
- the detection result of the torque sensor 40 is output to the motor controller 31.
- the motor controller 31 calculates the torque output from the electric motor 20 based on the detection result from the torque sensor 40, and controls the drive of the electric motor 20 so as to generate the torque.
- the electric power steering apparatus 101 drives the electric motor 20 based on the detection result of the torque sensor 40 that detects the steering torque input from the steering handle 1 and assists the steering of the steering handle 1 by the driver.
- the torque sensor 40 includes a main sensor 41 and a sub sensor 42 as detection units.
- the main sensor 41 and the sub sensor 42 respectively detect the steering torque applied to the torsion bar 5 and output it to the motor controller 31.
- the motor controller 31 controls driving of the electric motor 20 based on the detection result of the main sensor 41. Further, the motor controller 31 determines whether or not the torque sensor 40 has an abnormality by comparing the output voltages of the main sensor 41 and the sub sensor 42 with each other. That is, the torque sensor 40 further includes a sub sensor 42 as a detection unit for detecting torque, in addition to the main sensor 41 for controlling the driving of the electric motor 20, in order to determine abnormality of the torque sensor 40. . As described above, the torque sensor 40 having two sensors can determine whether or not the torque sensor 40 has an abnormality.
- a first supply line 52 and a second supply line 53 are connected to the main sensor 41 and the sub sensor 42, respectively. Electric power is supplied to the main sensor 41 and the sub sensor 42 through the first supply line 52 and the second supply line 53.
- the first supply line 52 and the second supply line 53 are each connected to a common line 54.
- the common line 54 is connected to the first power supply line 50 and the second power supply line 51. Therefore, the first internal power supply 43 and the second internal power supply 44 are connected to the main sensor 41 and the sub sensor 42 through the first power supply line 50 or the second power supply line 51, the common line 54, and the first and second supply lines 53, respectively. Both can be powered. That is, the torque sensor 40 and the ECU 30 are electrically connected by the common line 54.
- the torque sensor 40 and the ECU 30 are connected by a common line 54, so that the number of electric wires to be used can be reduced.
- the torque sensor 40 and the ECU 30 may be connected separately.
- a first voltage sensor 47 that detects the voltage value of the first power supply line 50 is provided.
- a second voltage sensor 48 that detects a voltage value of the second power supply line 51 is provided between the second changeover switch 46 and the second internal power supply 44 in the second power supply line 51.
- the common line 54 is provided with a third voltage sensor 49 that detects a voltage value supplied to the torque sensor 40. The detection results of the first, second, and third voltage sensors 47, 48, 49 are output to the motor controller 31.
- the motor controller 31 controls ON / OFF of the first and second changeover switches 45 and 46 based on the detection results of the first, second and third voltage sensors 47, 48 and 49.
- ON / OFF of the first and second change-over switches 45 and 46 power is supplied from the first internal power supply 43 to both the main sensor 41 and the sub sensor 42, or from the second internal power supply 44 to the main sensor. Whether to supply power to both 41 and the sub-sensor 42 is selectively switched.
- the first and second changeover switches 45 and 46 constitute a changeover unit that selectively switches the power supply line that supplies power to the main sensor 41 and the sub sensor 42 among the first and second power supply lines 50 and 51. To do.
- the steering shaft 2 is provided with a steering angle sensor 60 for detecting the steering angle of the steering handle 1 as shown in FIG.
- the detection result of the steering angle sensor 60 is output to the motor controller 31.
- the motor controller 31 includes a CPU that controls the operation of the electric motor 20, a ROM that stores control programs and setting values necessary for the processing operation of the CPU, a torque sensor 40, a resolver 22, a steering angle sensor 60, and the like. And a RAM for temporarily storing information detected by various sensors.
- the first changeover switch 45 is turned on to allow the first power supply line 50 to be energized.
- the second changeover switch 46 is turned off and the second power supply line 51 is shut off.
- power is supplied from the first internal power supply 43 to the main sensor 41 and the sub sensor 42 through the first power supply line 50, the common line 54, and the first and second supply lines 52 and 53.
- the main sensor 41 and the sub sensor 42 receive power supply from the first internal power supply 43, detect the steering torque, and output it to the motor controller 31.
- the motor controller 31 controls the rotation of the electric motor 20 based on the detection result of the main sensor 41. Thereby, the assist torque from the electric motor 20 is applied to the steering shaft 2.
- the motor controller 31 compares the detection results of the main sensor 41 and the sub sensor 42 to determine whether the torque sensor 40 is abnormal. As described above, the sub sensor 42 is provided to determine whether the torque sensor 40 is abnormal.
- the motor controller 31 determines whether or not the first and second internal power supplies 43 and 44 are abnormal based on the detection results of the first and second voltage sensors 47 and 48. For example, when the motor controller 31 detects an abnormal value in the voltage signal of the first internal power supply 43 that supplies power during normal operation, the motor controller 31 determines that the first internal power supply 43 is abnormal. Further, the motor controller 31 determines whether or not there is an abnormality in the first changeover switch 45 based on the detection results of the first and third voltage sensors 47 and 49.
- the motor controller 31 determines that there is no abnormality in the first and second internal power supplies 43 and 44, the state where the first changeover switch 45 is ON and the second changeover switch 46 is OFF is maintained. That is, power supply from the first internal power supply 43 to the main sensor 41 and the sub sensor 42 is maintained.
- the motor controller 31 determines that the first internal power supply 43 or the first changeover switch 45 is abnormal, the motor controller 31 A signal for turning off the first changeover switch 45 is outputted and a signal for turning on the second changeover switch 46 is outputted. As a result, the internal power supply that supplies power to the main sensor 41 and the sub sensor 42 is switched from the first internal power supply 43 to the second internal power supply 44.
- the torque sensor 40 is particularly required to be stable in detecting the steering torque in order to ensure safety during traveling. For this reason, in the torque sensor 40, redundancy is made to increase the safety of the electric power steering apparatus 101 by determining the abnormality of the torque sensor 40 by the two sensors of the main sensor 41 and the sub sensor 42.
- both the main sensor 41 and the sub sensor 42 of the torque sensor 40 When power is supplied to the two sensors, ie, the main sensor 41 and the sub sensor 42 of the torque sensor 40 from a single internal power source, both the main sensor 41 and the sub sensor 42 will not operate if the internal power source fails. Further, when power is supplied to the main sensor 41 and the sub sensor 42 independently from two internal power supplies, if one of the internal power supplies fails, one of the main sensor 41 and the sub sensor 42 corresponding to the internal power supply operates. Disappear. Therefore, in these cases, the stability of detection by the torque sensor 40 is insufficient.
- each of the first and second internal power sources 43 and 44 can supply power to both the main sensor 41 and the sub sensor 42, and the power source for supplying power is switched between the first and second power sources. It is switched by switches 45 and 46. Therefore, even if one of the internal power supplies fails, the power supply to the main sensor 41 and the sub sensor 42 is maintained by switching the power supply that supplies the power, and the sensor device 100 stably stabilizes the steering torque. Can be detected. Therefore, an appropriate assist torque can be applied to the steering shaft 2 by the electric motor 20, and the safety of the vehicle is ensured.
- the sensor device 100 consumes less power than the electric motor 20 or the like, even if the sensor device 100 includes the first and second internal power supplies 43 and 44, the cost does not increase significantly. . That is, the sensor device 100 can ensure the safety of the vehicle while reducing the increase in cost.
- the main sensor 41 and the sub sensor 42 that detect the steering torque correspond to a plurality of detection units.
- the plurality of detection units may be a plurality of steering angle sensors 60.
- both the plurality of torque sensors 40 and the plurality of steering angle sensors 60 may be detection units.
- the state information of the electric power steering apparatus 101 is information detected by various sensors used in the electric power steering apparatus 101, such as steering torque and steering angle.
- the first and second internal power supplies 43 and 44 can supply power to both the main sensor 41 and the sub sensor 42 of the torque sensor 40 through the first and second power supply lines 50 and 51, respectively. For this reason, even if one of the first and second internal power supplies 43 and 44 fails, the power supply line that supplies power to the main sensor 41 and the sub sensor 42 is connected to the first changeover switch 45 and the second changeover switch 46. As a result of the switching, the power supply to both the main sensor 41 and the sub sensor 42 is maintained. Therefore, the stability of detection by the sensor device 100 of the electric power steering device 101 can be improved.
- the power supply to the main sensor 41 and the sub sensor 42 of the torque sensor 40 is maintained, and the sensor device 100 can stably detect the steering torque. Therefore, an appropriate assist torque can be applied to the steering shaft 2 by the electric motor 20, and the safety of the vehicle is ensured.
- the sensor device 100 used in the electric power steering apparatus 101 includes a main sensor 41 and a sub sensor 42 that detect steering torque as the same state information in the electric power steering apparatus 101, first and second internal power supplies 43 and 44,
- the first and second power supply lines 50 and 51 are connected to the first and second internal power supplies 43 and 44, respectively, and can supply power to both the main sensor 41 and the sub sensor 42 from the internal power supplies, and the first and second power supplies.
- a switching unit (a first switching switch 45 and a second switching switch 46) that selectively switches a power line that supplies power to both the main sensor 41 and the sub sensor 42 among the power lines 50 and 51 is provided.
- the switching unit is provided in each of the first and second power supply lines 50 and 51, and the first changeover switch 45 and the first changeover switch 45 that respectively switch off and energize the first and second power supply lines 50 and 51. 2 switch 46.
- the first and second internal power supplies 43 and 44 can supply power to all of the main sensor 41 and the sub sensor 42 through the first and second power supply lines 50 and 51, respectively. For this reason, even when one internal power supply fails, the power supply line for supplying power to the main sensor 41 and the sub sensor 42 is switched by the switching unit (the first changeover switch 45 and the second changeover switch 46). The power supply to both the main sensor 41 and the sub sensor 42 is maintained. Therefore, the stability of detection by the sensor device 100 of the electric power steering device 101 can be improved.
- the detection unit detects the steering torque input from the steering handle 1.
- the sensor device 100 can stably detect the steering torque. Therefore, an appropriate assist torque can be applied to the steering shaft 2 by the electric motor 20, and the safety of the vehicle is ensured.
- the switching unit (the first changeover switch 45 and the second changeover switch 46) supplies power to the main sensor 41 and the sub sensor 42 based on the voltage values of the first and second power supply lines 50 and 51. Switch the power line to be supplied.
- the failure of the first and second internal power supplies 43 and 44 is detected based on the voltage values of the first and second power supply lines 50 and 51, and power is supplied to the main sensor 41 and the sub sensor 42.
- the power line to be switched is switched.
- the electric power steering apparatus 101 includes a steering shaft 2 that rotates when a steering torque is input from the steering handle 1, and an electric motor 20 that applies a rotational torque that assists the steering torque to the rack shaft 10 that steers the wheels 8.
- the sensor device 100 according to any one of the above components, and a motor controller 31 that controls the driving of the electric motor 20 based on the detection result of the sensor device 100 are provided.
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Steering Mechanism (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
Description
Claims (5)
- 電動パワーステアリング装置に用いられるセンサ装置であって、
前記電動パワーステアリング装置における同一の状態情報を検出する複数の検出部と、
複数の電源と、
前記複数の電源にそれぞれ接続されると共に前記各電源から前記複数の検出部の全てに電力を供給可能な複数の電源ラインと、
前記複数の電源ラインのうち前記複数の検出部に電力を供給する前記電源ラインを選択的に切り換える切換部と、を備えるセンサ装置。 - 請求項1に記載のセンサ装置であって、
前記切換部は、前記複数の電源ラインのそれぞれに設けられ前記電源ラインの遮断と通電を切り換える切換スイッチであるセンサ装置。 - 請求項1に記載のセンサ装置であって、
前記検出部は、操舵ハンドルから入力される操舵トルクを検出するセンサ装置。 - 請求項1に記載のセンサ装置であって、
前記切換部は、前記電源ラインの電圧値に基づいて、前記複数の検出部に電力を供給する前記電源ラインを切り換えるセンサ装置。 - 電動パワーステアリング装置であって、
操舵ハンドルから操舵トルクが入力されて回転するステアリングシャフトと、
車輪を転舵するラック軸に前記操舵トルクを補助する回転トルクを付与する電動モータと、
請求項1に記載のセンサ装置と、
前記センサ装置の検出結果に基づいて前記電動モータの駆動を制御するモータコントローラと、を備える電動パワーステアリング装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
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KR1020187010662A KR20180074679A (ko) | 2015-10-27 | 2016-09-20 | 센서 장치 및 전동 파워 스티어링 장치 |
CN201680062625.8A CN108349525A (zh) | 2015-10-27 | 2016-09-20 | 传感器装置和电动动力转向装置 |
US15/769,379 US20180304916A1 (en) | 2015-10-27 | 2016-09-20 | Sensor device and electric power steering device |
EP16859439.8A EP3369644A1 (en) | 2015-10-27 | 2016-09-20 | Sensor device and electric power steering device |
Applications Claiming Priority (2)
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JP2015-211126 | 2015-10-27 | ||
JP2015211126A JP2017081387A (ja) | 2015-10-27 | 2015-10-27 | センサ装置及び電動パワーステアリング装置 |
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US (1) | US20180304916A1 (ja) |
EP (1) | EP3369644A1 (ja) |
JP (1) | JP2017081387A (ja) |
KR (1) | KR20180074679A (ja) |
CN (1) | CN108349525A (ja) |
WO (1) | WO2017073202A1 (ja) |
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JP2018043578A (ja) * | 2016-09-13 | 2018-03-22 | 日立オートモティブシステムズ株式会社 | センサ装置 |
JP6852580B2 (ja) * | 2017-06-12 | 2021-03-31 | 株式会社ジェイテクト | 操舵制御装置 |
KR102086432B1 (ko) * | 2018-08-23 | 2020-03-09 | 주식회사 만도 | 차량의 조향 장치 |
JP7192421B2 (ja) * | 2018-11-15 | 2022-12-20 | 株式会社ジェイテクト | センサ情報出力装置および車両制御装置 |
JP7047738B2 (ja) * | 2018-12-07 | 2022-04-05 | 株式会社デンソー | ステアリングシステム |
JP2020100274A (ja) * | 2018-12-21 | 2020-07-02 | 株式会社ジェイテクト | 操舵システム |
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2016
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- 2016-09-20 WO PCT/JP2016/077695 patent/WO2017073202A1/ja active Application Filing
- 2016-09-20 EP EP16859439.8A patent/EP3369644A1/en not_active Withdrawn
- 2016-09-20 KR KR1020187010662A patent/KR20180074679A/ko unknown
- 2016-09-20 CN CN201680062625.8A patent/CN108349525A/zh active Pending
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Also Published As
Publication number | Publication date |
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JP2017081387A (ja) | 2017-05-18 |
CN108349525A (zh) | 2018-07-31 |
EP3369644A1 (en) | 2018-09-05 |
KR20180074679A (ko) | 2018-07-03 |
US20180304916A1 (en) | 2018-10-25 |
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