WO2017098839A1 - 電動パワーステアリング装置 - Google Patents
電動パワーステアリング装置 Download PDFInfo
- Publication number
- WO2017098839A1 WO2017098839A1 PCT/JP2016/082750 JP2016082750W WO2017098839A1 WO 2017098839 A1 WO2017098839 A1 WO 2017098839A1 JP 2016082750 W JP2016082750 W JP 2016082750W WO 2017098839 A1 WO2017098839 A1 WO 2017098839A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- angle
- steering
- steering angle
- relative
- value
- Prior art date
Links
Images
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
-
- 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
Definitions
- the present invention relates to an electric power steering device that controls driving of a motor by a current command value and assists a steering system of a vehicle by driving control of the motor.
- the steering shaft has at least two angle sensors mounted therein, and a gear therein.
- the present invention relates to an electric power steering apparatus that can be backed up using an estimation signal when another angle sensor fails.
- An electric power steering device that assists and controls the steering system of a vehicle with the rotational force of a motor uses a driving force of the motor to transmit a steering assist force to a steering shaft or a rack shaft by a transmission mechanism such as a gear or a belt via a speed reducer.
- EPS electric power steering device
- Such a conventional electric power steering apparatus performs feedback control of the motor current in order to accurately generate the torque of the steering assist force.
- the motor applied voltage is adjusted so that the difference between the steering assist command value (current command value) and the motor current detection value is small.
- the adjustment of the motor applied voltage is generally performed by PWM (pulse width). This is done by adjusting the duty of modulation) control.
- the general configuration of the electric power steering apparatus will be described with reference to FIG. 6b is further connected to the steering wheels 8L and 8R via hub units 7a and 7b.
- the column shaft 2 is provided with a torque sensor 10 for detecting the steering torque of the handle 1 and a steering angle sensor 14 for detecting the steering angle ⁇ , and the motor 20 for assisting the steering force of the handle 1 is provided with the reduction gear 3.
- the control unit (ECU) 30 that controls the electric power steering apparatus is supplied with electric power from the battery 13 and also receives an ignition key signal via the ignition key 11.
- the control unit 30 calculates a current command value of an assist (steering assistance) command based on the steering torque Th detected by the torque sensor 10 and the vehicle speed Vel detected by the vehicle speed sensor 12, and compensates the current command value.
- the current supplied to the EPS motor 20 is controlled by the voltage control command value Vref subjected to.
- the control unit 30 is connected to a CAN (Controller Area Network) 40 that transmits and receives various types of vehicle information, and the vehicle speed Vel can also be received from the CAN 40.
- the control unit 30 can be connected to a non-CAN 41 that exchanges communications, analog / digital signals, radio waves, and the like other than the CAN 40.
- the control unit 30 is mainly composed of an MCU (including a CPU, MPU, etc.), and FIG. 2 shows general functions executed by a program inside the MCU.
- the function and operation of the control unit 30 will be described with reference to FIG. 2.
- the steering torque Th detected by the torque sensor 10 and the vehicle speed Vel detected by the vehicle speed sensor 12 (or from the CAN 40) are represented by the current command value Iref1.
- the current command value calculation unit 31 to be calculated is input.
- the current command value calculation unit 31 calculates a current command value Iref1, which is a control target value of the current supplied to the motor 20, using an assist map or the like based on the input steering torque Th and vehicle speed Vel.
- the current command value Iref1 is input to the current limiter 33 through the adder 32A, and the current command value Irefm whose maximum current is limited is input to the subtractor 32B, and the deviation I (Irefm) from the fed back motor current value Im.
- the inverter 37 uses a field effect transistor (FET) as a drive element, and is configured by a bridge circuit of the FET.
- FET field effect transistor
- a compensation signal CM from the compensation signal generator 34 is added to the adder 32A, and the compensation of the steering system system is performed by adding the compensation signal CM to improve the convergence and inertia characteristics.
- the compensation signal generation unit 34 adds the self-aligning torque (SAT) 343 and the inertia 342 by the addition unit 344, and further adds the convergence 341 to the addition result by the addition unit 345, and compensates the addition result of the addition unit 345.
- the signal CM is used.
- Patent Document 1 discloses a method for measuring torque for a vehicle having an electromechanical steering system, and is considered as a backup for a torque sensor. ing.
- the overall configuration is an electromechanical steering apparatus including an input shaft portion and an output shaft portion connected to a drive steering mechanism, and steering means connected via a torsion bar having a servo motor.
- the configuration is an electromechanical steering device (digital circuit or analog circuit) that detects torque from the relative rotational displacement between the input shaft portion and the output shaft portion of the drive steering mechanism, but the steering angle ( ⁇ ) sensor
- the sensor for detecting the virtual torque is formed by the two inputs of the output and the rotation angle of the servo motor, and the steering torque is determined from the virtual torque.
- Patent Document 2 Japanese Patent Laid-Open No. 2005-274484
- a redundant system is configured by mounting a plurality (three) of steering angle sensors.
- Patent Document 1 as a backup system, a backup of a steering angle sensor can be backed up by rotor rotation information of a servo motor, but mutual failure diagnosis and backup for both sensors are possible. Is impossible. Further, in the example of Patent Document 2, since the periphery of the steering system is enlarged, there is a problem that the vehicle mountability of the apparatus is deteriorated and the cost is generally increased.
- the present invention has been made under the circumstances described above, and an object of the present invention is to learn the characteristics of the gear mechanism by mounting a plurality of angle sensors on the steering shaft in addition to the angle sensor via the gear mechanism. Using the learning result and the angle sensor signal via the gear mechanism, it is possible to monitor and diagnose by estimating the signal of another angle sensor, and backup is possible without further multiplexing of angle sensors for backup. An inexpensive and high-performance electric power steering apparatus is provided.
- the present invention relates to an electric power steering apparatus including at least a first angle sensor that detects a first steering angle through a gear mechanism and a second angle sensor that detects a second steering angle without using the gear mechanism.
- An object of the present invention is to provide a correction offset calculation unit that calculates the correction offset by learning the characteristics of the gear mechanism, and a steering angle estimation unit that estimates the second steering angle using the correction offset. Is achieved.
- the above-described object of the present invention includes a relative steering angle conversion unit that converts the first steering angle and the second steering angle to a relative steering angle, and the correction offset calculation unit includes the first steering angle converted to the relative steering angle.
- a correction determination unit that determines the steering direction by calculating the correction offset based on an angle and a second steering angle; and the correction offset calculation unit corrects the correction according to the determined steering direction. Or when the second angle sensor is in a multiple system and one system of the second angle sensor fails, the measured value and the estimated value of the second steering angle are used.
- the calculation unit calculates a correction offset by learning a deviation between the first steering angle and the second steering angle, or the correction offset calculation unit is a range of an angular period of the first angle sensor. Learning the plurality of deviations calculated at predetermined intervals, and using the learned average value of the plurality of deviations as the correction offset, or the first angle sensor and the second angle sensor are This is achieved more effectively by being mounted on the input shaft side of the steering shaft.
- the electric power steering apparatus of the present invention when the angle sensor is operating normally, the characteristics of the gear mechanism, in particular, the backlash component due to the steering direction is learned, the correction offset is calculated, and the angle via the gear mechanism is calculated. Monitoring and diagnosis can be performed by estimating the signal of another angle sensor using the sensor signal and the correction offset, and backup can be performed when the other angle sensor fails.
- the present invention when a plurality of angle sensors are mounted on the steering shaft, and there is an angle sensor (first angle sensor) for detecting the steering angle via the gear mechanism, the characteristics of the gear mechanism are learned.
- the steering angle detected by the other angle sensor (second angle sensor) is estimated using the learning result and the steering angle (steering angle signal) detected by the first angle sensor.
- the gear has backlash so that it can move freely, and the rudder angle (first rudder angle) detected by the first angle sensor and the rudder angle detected by the second angle sensor by this backlash. Since an error (deviation) occurs in (second steering angle), the present invention learns a backlash component that is a characteristic of the gear mechanism in order to reduce the influence of backlash.
- a correction offset is calculated by learning, and the second steering angle is estimated by correcting the first steering angle with the correction offset. And while monitoring and diagnosing the 2nd angle sensor using the estimated rudder angle, when the 2nd angle sensor is a double system, one system is out of order (henceforth "abnormal" is included). Can be backed up.
- an angle sensor is mounted on the steering shaft (handle shaft) 2 and various detection signals are output.
- the input shaft (input shaft) 2A on the handle 1 side of the handle shaft 2 has a torque sensor input side rotor 20 which is one of the angle sensors of the torque sensor composed of the Hall IC sensor 21 and a pair of angle sensors.
- ° Rotor sensor 22 is mounted.
- the Hall IC sensor 21 is attached to the input shaft 2A via a gear, detects the rotation of the input shaft 2A at a cycle of 296 °, and outputs the AS_IS angle ⁇ h.
- the torque sensor has a double system, and the 20 ° rotor sensor 22 mounted directly on the handle 1 side of the torsion bar 23 detects the rotation of the input shaft 2A at a cycle of 20 ° and outputs TS_IS angles ⁇ s1 and ⁇ s2.
- the TS_IS angles ⁇ s1 and ⁇ s2 are input to the steering angle calculation unit 50.
- the 40 ° rotor sensor 24 of the torque sensor output side rotor which is the other angle sensor of the torque sensor, is directly mounted on the output shaft (output shaft) 2B of the handle shaft 2.
- the rudder angle calculation unit 50 calculates the relative displacement of the TS_IS angle ⁇ s1 and the TS_OS angle ⁇ r1, outputs the twist angle ⁇ t1, similarly calculates the relative displacement of the TS_IS angle ⁇ s2 and the TS_OS angle ⁇ r2, and outputs the twist angle ⁇ t2. .
- a steering torque is calculated based on the twist angles ⁇ t1 and ⁇ t2.
- the Hall IC sensor 21 corresponds to the first angle sensor
- the 20 ° rotor sensor 22 corresponds to the second angle sensor
- the AS_IS angle ⁇ h output from the Hall IC sensor 21 is the first steering angle
- the 20 ° rotor corresponds to the second angle sensor
- TS_IS angles ⁇ s1 and ⁇ s2 output from the sensor 22 (hereinafter, ⁇ s1 and ⁇ s2 are collectively referred to as “ ⁇ s”, and “ ⁇ s” means ⁇ s1 or ⁇ s2) correspond to the second steering angle.
- the AS_IS angle ⁇ h and the TS_IS angles ⁇ s1 and ⁇ s2 are input to a control unit (not shown).
- the TS_OS angles ⁇ r1 and ⁇ r2 and the torsional steering angles ⁇ t1 and ⁇ t2 are also input to the control unit, but are not directly related to the present invention, and thus the description thereof is omitted.
- the difference in the angle cycle is dealt with by treating the AS_IS angle ⁇ h and the TS_IS angle ⁇ s as steering wheel angles, that is, by making the steering angle relative.
- noise is removed using a filter for the AS_IS angle ⁇ h and the TS_IS angle ⁇ s as necessary.
- the error of the TS_IS angle ⁇ s and the AS_IS angle ⁇ h which are converted to the relative steering angle when the torque sensors that are dual systems are operating normally, is described above.
- the correction offset is calculated by learning as described above, and the correction is made by correcting the AS_IS angle ⁇ h with the correction offset.
- the correction offset is calculated according to the steering direction. Specifically, the three offset correction offsets of left-turn steering, right-turn steering, and holding are calculated, and the gear is obtained by properly using the correction offset according to the steering situation. Reduce the effect on error due to backlash.
- Fig. 4 shows an example of the configuration of a control unit that implements such functions.
- the AS_IS angle ⁇ h and the TS_IS angle ⁇ s input to the control unit are input to the relative rudder angler 60, and the relative rudder angler 60 is referred to as a relative rudder angle AS_IS angle (hereinafter referred to as “AS_IS relative rudder angle”).
- AS_IS relative rudder angle a relative rudder angle AS_IS angle
- TS_IS relative rudder angle a relative rudder angle converted to a relative rudder angle
- the steering determination unit 70 determines a steering situation (left turn / right turn / steering) and outputs a determination result Sj.
- the determination result Sj is input to the correction offset calculation unit 80 and the steering angle estimation unit 100.
- the correction offset calculation unit 80 Based on the AS_IS relative steering angle ⁇ hr, the TS_IS relative steering angle ⁇ sr, and the determination result Sj, the correction offset calculation unit 80 performs a correction offset for left-turn steering (hereinafter referred to as “left-off offset”) Csl, right-turn steering.
- a correction offset (hereinafter referred to as “offset when turning right”) Csr and a correction offset during holding (hereinafter referred to as “holding offset”) Csk are obtained.
- the correction offsets (left-off offset Csl, right-offset offset Csr, steering hold offset Csk) are stored in the correction offset storage unit 90.
- the steering angle estimator 100 is a TS_IS relative steering angle estimated from the AS_IS relative steering angle ⁇ hr, the determination result Sj, and the correction offset stored in the correction offset storage unit 90 (hereinafter referred to as “TS_IS estimated steering angle”). Output ⁇ se.
- the relative rudder angle conversion unit 60 anti-rolls over these angles (angle signals) and treats them as relative rudder angles in order to eliminate the difference in angle cycle between the AS_IS angle ⁇ h and the TS_IS angle ⁇ s.
- the same procedure is applied to the AS_IS angle ⁇ h and the TS_IS angle ⁇ s, and the difference between the input angle (AS_IS angle ⁇ h, TS_IS angle ⁇ s) and the previous input angle (one sample before) (hereinafter referred to as “angle difference”).
- addition angle The angle to be added (hereinafter, referred to as “addition angle”) is determined, and the addition angle accumulated from the start of addition (hereinafter, referred to as “cumulative addition angle”) is added to the input angle to obtain a relative steering angle ( AS_IS relative rudder angle ⁇ hr, TS_IS relative rudder angle ⁇ sr) is determined to obtain a relative rudder angle.
- angle maximum value the maximum value of the input angle range
- the addition angle is the maximum angle value, and when the input angle is increased from 1 ⁇ 2 of the maximum angle value, that is, when the angle difference is larger than 1 ⁇ 2 times the maximum angle value, the addition angle is the maximum angle value ⁇ ( -1), otherwise, the addition angle is 0.
- the relative steering angle is filtered.
- the steering determination unit 70 determines the steering situation for properly using the correction offset according to the steering situation.
- the rotational direction of the gear In order to correct the backlash component of the gear of the angle sensor (Hall IC sensor 21 in the present embodiment), information on the rotational direction of the gear is necessary, and the rotational direction of the gear can be determined from the steering direction.
- the determination of the steering situation is performed by giving the AS_IS relative steering angle ⁇ hr a hysteresis characteristic, that is, by giving the AS_IS relative steering angle ⁇ hr a predetermined hysteresis width. By providing the hysteresis characteristic, it is possible to reduce the influence of the noise on the steering situation determination.
- a value obtained by subtracting a predetermined value from the input AS_IS relative steering angle ⁇ hr is set as an upper limit value (hereinafter referred to as “steering angle upper limit value”), and a value obtained by adding a predetermined value to the AS_IS relative steering angle ⁇ hr is set as a lower limit.
- steerering angle upper limit value a value obtained by subtracting a predetermined value from the input AS_IS relative steering angle ⁇ hr
- a value obtained by adding a predetermined value to the AS_IS relative steering angle ⁇ hr is set as a lower limit.
- the difference between the steering angle upper limit value and the steering angle lower limit value is the hysteresis width.
- the steering angle upper limit value, the steering angle lower limit value, and the previous value (hereinafter referred to as “hysteresis center previous value”) of the central value of hysteresis width (hereinafter referred to as “hysteresis central value”)
- the hysteresis center value is updated by comparing the above. Specifically, if the steering angle upper limit value is larger than the hysteresis center previous value, the steering angle upper limit value is the hysteresis center value, and if the steering angle lower limit value is smaller than the hysteresis center previous value, the steering angle lower limit value is the hysteresis center value. In other cases, the hysteresis center value is not updated.
- the steering direction is determined by comparing the AS_IS relative rudder angle ⁇ hr and the hysteresis center value, and further, the case where the hysteresis center value does not change for a certain period of time is regarded as steering maintenance. That is, when the AS_IS relative steering angle ⁇ hr is smaller than the hysteresis center value, it is tentatively determined to be right-turn steering (hereinafter, this determination result is referred to as “provisional determination result”), and the AS_IS relative steering angle ⁇ hr is less than the hysteresis center value.
- the previous tentative determination result is set as the tentative determination result, and the hysteresis center value is constant. If the time does not change, the determination result Sj is used as the steering, and otherwise, the provisional determination result is used as the determination result Sj.
- the hysteresis width is set to a size that can remove the noise component of the angle sensor, and the time interval for determining that the steering is maintained is set to such an extent that it is not erroneously determined that the steering is maintained when the vehicle is slowly steered.
- the hysteresis width setting unit 71 gives a predetermined hysteresis width to the AS_IS relative steering angle ⁇ hr, and outputs a steering angle upper limit value ⁇ 1 and a steering angle lower limit value ⁇ 2.
- the hysteresis center value calculation unit 72 updates the hysteresis center value by comparing the steering angle upper limit value ⁇ 1 and the steering angle lower limit value ⁇ 2 with the hysteresis center previous value ⁇ cp held in the memory unit 75, and outputs the hysteresis center value ⁇ c. To do.
- the hysteresis center value ⁇ c is held in the memory unit 75 and input to the steering direction determination unit 73 and the steering determination unit 74.
- the steering direction determination unit 73 determines the steering direction by comparing the AS_IS relative steering angle ⁇ hr and the hysteresis center value ⁇ c, and outputs a provisional determination result Sd.
- the steering holding determination unit 74 determines whether or not the steering is held based on the hysteresis center value ⁇ c and the hysteresis center previous value ⁇ cp, and determines and outputs a determination result Sj from the determination result and the provisional determination result Sd.
- the correction offset calculation unit 80 learns the difference between the TS_IS relative steering angle ⁇ sr and the AS_IS relative steering angle ⁇ hr (hereinafter referred to as “relative steering angle difference”) when the dual-system torque sensor is operating normally. Then, a correction offset is calculated. Since the degree of backlash is indefinite due to the difference between the simple TS_IS relative steering angle and the AS_IS relative steering angle, learning is performed in both the left-turn steering and the right-turn steering. Further, in order to avoid erroneous learning, the steering speed at the time of learning is performed in a state where a constant speed that is neither too slow nor too fast is present (a state where backlash is clogged).
- the backlash state is indefinite in the steered state, so that the possibility of erroneous learning increases.
- a steering speed that is too fast there is a high possibility of erroneous learning due to an error in timing for acquiring data (AS_IS angle ⁇ h, TS_IS angle ⁇ s), the gear gear inertia, and the like.
- the steering speed is appropriate, there is a high possibility of erroneous learning when the speed fluctuation (acceleration) is large. Therefore, learning is performed only when the steering speed is stable.
- the backlash component changes depending on the gear gear combination, it is desirable that the number of samples to be learned is large.
- the angular period (296 °) of the Hall IC sensor 21 is ticked at 10 ° ⁇ 1 °, and learning of the relative rudder angle difference is performed at each ticking point in both the left-turn steering and the right-turn steering. Learning is performed with points (hereinafter, the points for learning are referred to as “learning points”).
- FIG. 6 is a diagram illustrating an example of learning points.
- the horizontal axis is the AS_IS relative rudder angle
- the vertical axis is the relative rudder angle difference
- the change in the relative rudder angle difference when performing left-turn steering and right-turn steering is indicated by a solid line.
- a part of the learning point is indicated by a broken line
- sample data in one steering direction at the learning point is indicated by a circle.
- Sample data is acquired at a learning point as shown in FIG.
- the average of the learning results of 30 learning points in the left turn steering is set as an offset Csl at the time of left turning
- the average of the learning results of 30 learning points in the right turn steering is set as the offset Csr in the right turn
- the offset at the time of left turning is the average of the learning results of 30 learning points in the right turn.
- the average of the offset at the time of turning right is set as the steering offset Csk.
- an average value calculated from a plurality of sample data can be used as a learning result at each learning point, in the present embodiment, only one sample data is used.
- the learning points are not limited to the above 60 points, and learning may be performed at points set at other step sizes, variable step sizes, or the like.
- the left-off offset and the right-off offset may not be the average value of a plurality of learning results, but may be a mode value, a median value or the like.
- a configuration example of the correction offset calculation unit 80 is shown in FIG.
- the steering speed calculation unit 81 calculates the steering speed ⁇ hr from the AS_IS relative steering angle ⁇ hr
- the steering acceleration calculation unit 82 calculates the steering acceleration ⁇ hr from the steering speed ⁇ hr
- the steering speed ⁇ hr and the steering acceleration ⁇ hr are the gear characteristic learning unit 83. Is input.
- the gear characteristic learning unit 83 receives the AS_IS relative steering angle ⁇ hr, the TS_IS relative steering angle ⁇ sr, and the determination result Sj output from the steering determination unit 70.
- Rs the relative rudder angle difference
- AS_IS relative steering angle ⁇ hr and the TS_IS relative steering angle ⁇ sr are data that can be used for learning. That is, if the steering speed ⁇ hr is in a suitable range and the absolute value of the steering acceleration ⁇ hr is not large, it is determined that the steering speed is not too slow, not too fast, and is stable, and can be used for learning. .
- the relative steering angle difference Rs is held in the learning result holding unit 84 as a learning result at each learning point. In order to maintain the relative steering angle difference Rs, it is necessary to specify the learning point for which learning point the learning result is.
- the learning point has a movable range of the AS_IS relative angle ⁇ hr at a constant interval WD (for example, 10 °).
- the learning point can be specified using the value of the AS_IS relative angle ⁇ hr as it is.
- the value of the AS_IS relative angle ⁇ hr is fluctuated. Therefore, the learning point is specified by processing the AS_IS relative angle ⁇ hr. Specifically, for example, a value sp calculated from the following formula 1 is used.
- Kp is the number of learning points set in one steering direction (for example, 30)
- ROUND (x) is a function that returns a value obtained by rounding off the decimal point of x
- mod is (A mod B)
- A is divided by B It is an operator for calculating the remainder (remainder).
- a region for holding the relative rudder angle difference Rs for each value of the identifier sp for each steering direction (left turn, right turn) is stored in the learning result holding unit 84.
- a relative steering angle difference Rs is maintained based on the steering direction and the identifier sp.
- the offset for correction (offset Csl when turning left, offset Csr when turning right, offset when keeping steering) using the relative rudder angle difference Rs held in the learning result holding unit 84 Csk) is calculated.
- the correction offset is stored in the correction offset storage unit 90, and backup can be performed after the correction offset is obtained.
- the steering angle estimation unit 100 selects the correction offset stored in the correction offset storage unit 90 according to the determination result (left turn / right turn / steering) output from the steering determination unit 70, and AS_IS.
- a correction offset is added to the relative steering angle ⁇ hr to obtain the TS_IS estimated steering angle ⁇ se.
- the AS_IS angle ⁇ h detected by the Hall IC sensor 21 and the TS_IS angle ⁇ s detected by the 20 ° rotor sensor 22 are input to the relative steering angle converting unit 60 (step S10).
- the relative steering angle conversion unit 60 converts the AS_IS angle ⁇ h into a relative steering angle (step S20), outputs the AS_IS relative steering angle ⁇ hr, converts the TS_IS angle ⁇ s into a relative steering angle (step S30), and sets the TS_IS relative steering angle ⁇ sr. Is output.
- the relative rudder angle operation will be described later. Note that the order of the relative steering angle of the AS_IS angle ⁇ h and the relative steering angle of the TS_IS angle ⁇ s may be reversed.
- the steering determination unit 70 determines the steering situation using the AS_IS relative steering angle ⁇ hr output from the relative steering angle conversion unit 60, and determines “left-off” when determined as left-off steering, and “right-off steering”. Outputs “judgment result” Sj when “turned to the right” and “steered” are determined (step S40). The steering determination operation will be described later.
- the correction offset calculation unit 80 outputs the AS_IS relative steering angle ⁇ hr and the TS_IS relative steering angle ⁇ sr output from the relative steering angle conversion unit 60, and the steering.
- step S60 the learning operation of the gear backlash component is performed (step S60), and the process returns to step S10.
- the learning operation will be described later.
- step S50 the left-off offset Csl, the right-off offset Csr, and the hold-off offset Csk are stored in the correction offset storage unit 90 as correction offsets.
- the unit 100 confirms the determination result Sj output from the steering determination unit 70 (step S70).
- the determination result Sj is “left turn”
- the AS_IS relative steering angle ⁇ hr output from the relative steering angle conversion unit 60 is obtained.
- the TS_IS estimated steering angle ⁇ se is calculated by adding the left-off offset Csl stored in the correction offset storage unit 90 (step S80).
- the TS_IS estimated steering angle ⁇ se is calculated by adding the right turn offset Csr stored in the correction offset storage unit 90 to the AS_IS relative steering angle ⁇ hr (step S90). ).
- the TS_IS estimated steering angle ⁇ se is calculated by adding the steering-keeping offset Csk stored in the correction offset storage unit 90 to the AS_IS relative steering angle ⁇ hr (step S100). ). Whether or not learning is completed may be determined based on whether or not the correction offset is stored in the correction offset storage unit 90, or may be notified using a flag or the like. .
- an angle difference is first calculated by subtracting the previous input angle from the input angle (step S210). Since the input angle is used for the next relative steering angle conversion, it is held in the relative steering angle conversion unit 60. If the calculated angle difference is smaller than -1/2 times the maximum angle value (step S220), the maximum angle value is set as the addition angle (step S230). When the angle difference is greater than or equal to -1/2 times the maximum angle value, the angle difference is compared with 1/2 the maximum angle value (step S240). Then, the maximum angle value ⁇ ( ⁇ 1) is set as the addition angle (step S250). If the angle difference is equal to or less than 1 ⁇ 2 times the maximum angle value, the addition angle is set to 0 (step S260).
- the determined addition angle is added to the cumulative addition angle (step S270). Then, the cumulative addition angle is added to the input angle to calculate the relative steering angle (AS_IS relative steering angle ⁇ hr, TS_IS relative steering angle ⁇ sr) (step S280). To remove noise, the relative steering angle is filtered (step S290) and output. Note that the filtering process may be executed as necessary, and may not be executed.
- the hysteresis width setting unit 71 subtracts a predetermined value (hereinafter referred to as “his width”) Rh from the AS_IS relative steering angle ⁇ hr output from the relative steering angle converting unit 60 to thereby determine the steering angle upper limit value.
- ⁇ 1 ⁇ hr ⁇ Rh
- ⁇ 2 ⁇ hr + Rh
- the order of calculation of the steering angle upper limit value ⁇ 1 and the calculation of the steering angle lower limit value ⁇ 2 may be reversed.
- the steering angle upper limit value ⁇ 1 and the steering angle lower limit value ⁇ 2 are input to the hysteresis center value calculation unit 72.
- the hysteresis center value calculation unit 72 calculates the steering angle upper limit value ⁇ 1 and the hysteresis center previous value ⁇ cp held in the memory unit 75. In comparison (step S420), if the steering angle upper limit value ⁇ 1 is larger than the hysteresis center previous value ⁇ cp, the hysteresis center value ⁇ c is set as the steering angle upper limit value ⁇ 1 (step S425).
- the steering angle lower limit value ⁇ 2 and the hysteresis center previous value ⁇ cp are compared (step S430). If the steering angle lower limit value ⁇ 2 is smaller than the hysteresis center previous value ⁇ cp, The hysteresis center value ⁇ c is set to the steering angle lower limit value ⁇ 2 (step S435).
- Step S440 If the steering angle lower limit value ⁇ 2 is equal to or greater than the hysteresis center previous value ⁇ cp, the hysteresis center value is not updated, and the hysteresis center previous value ⁇ cp is the hysteresis center value ⁇ c.
- the rudder angle upper limit value ⁇ 1 and the rudder angle lower limit value ⁇ 2 are data calculated from the first AS_IS relative rudder angle ⁇ hr calculated at the start of operation
- the average of the rudder angle upper limit value ⁇ 1 and the rudder angle lower limit value ⁇ 2 ( ⁇ 1 + ⁇ 2) / 2) is the hysteresis center value ⁇ c.
- the first hysteresis center value ⁇ c is the same value as the AS_IS relative steering angle ⁇ hr.
- the hysteresis center value ⁇ c is held in the memory unit 75 as the previous hysteresis center value ⁇ cp, and is input to the steering direction determination unit 73 and the steering determination unit 74.
- the steering direction determination unit 73 inputs the AS_IS relative steering angle ⁇ hr, compares the AS_IS relative steering angle ⁇ hr with the hysteresis center value ⁇ c, and if the AS_IS relative steering angle ⁇ hr is smaller than the hysteresis center value ⁇ c (step S445), the provisional determination result When Sd is “right turn” (right turn steering) (step S450), and the AS_IS relative steering angle ⁇ hr is larger than the hysteresis center value ⁇ c (step S455), the provisional determination result Sd is “left turn” (left turn steering).
- Step S460 When the AS_IS relative steering angle ⁇ hr is the same as the hysteresis center value ⁇ c, the provisional determination result Sd is made the same as the previous (one sample before) provisional determination result (Step S465).
- the provisional determination result Sd is input to the steering determination unit 74 together with the hysteresis center value ⁇ c and the hysteresis center previous value ⁇ cp held in the memory unit 75.
- the steering retention determination unit 74 compares the hysteresis center value ⁇ c and the hysteresis center previous value ⁇ cp, and the state in which the hysteresis center value ⁇ c and the hysteresis center previous value ⁇ cp are the same value and the same value remains for a certain period of time (for example, 100 ms (milliseconds)). (Second)) When it is continued (step S470), the determination result Sj is set to “steering” (step S475). Otherwise, the determination result Sj is made the same as the provisional determination result Sd (step S480) and output.
- FIG. 11 shows the AS_IS relative rudder angle as a solid line and the hysteresis center value as a broken line with the angle on the vertical axis and time on the horizontal axis, and the hysteresis center value turned to the left from the state where the steering wheel is turned to the right (left turning steering).
- the increase in the AS_IS relative steering angle ⁇ hr also becomes dull, the steering angle upper limit value ⁇ 1 is no longer larger than the hysteresis center previous value ⁇ cp, and further changes to right-turn steering.
- the determination result is “right turn”, and the steering angle lower limit value ⁇ 2 continues to be lower than the previous hysteresis center value ⁇ cp due to a decrease in the AS_IS relative steering angle ⁇ hr, and the hysteresis center value ⁇ c is updated to the steering angle lower limit value ⁇ 2. Therefore, it decreases according to the AS_IS relative steering angle ⁇ hr.
- the AS_IS relative angle ⁇ hr is smaller than the hysteresis center value ⁇ c, and the hysteresis center value ⁇ c continues to change, so that the determination result continues to be “right turn”.
- the AS_IS relative steering angle ⁇ hr starts to increase, and the hysteresis center value ⁇ c changes to the steering angle upper limit value ⁇ 1 at the time t2 when the steering angle upper limit value ⁇ 1 exceeds the hysteresis center previous value ⁇ cp.
- the hysteresis center value ⁇ c becomes smaller than the AS_IS relative steering angle ⁇ hr, and the determination result is “left turn”.
- the same hysteresis width is used in the calculation of the steering angle upper limit value ⁇ 1 and the steering angle lower limit value ⁇ 2, but hysteresis widths having different values may be used.
- the AS_IS relative steering angle ⁇ hr output from the relative steering angle conversion unit 60 is input to the steering speed calculation unit 81 and the gear characteristic learning unit 83, and the TS_IS relative steering angle ⁇ sr is input to the gear characteristic learning unit 83 (Ste S610).
- the steering speed calculation unit 81 calculates the steering speed ⁇ hr from the AS_IS relative steering angle ⁇ hr, and outputs it to the steering acceleration calculation unit 82 and the gear characteristic learning unit 83 (step S620).
- the steering acceleration calculation unit 82 calculates the steering acceleration ⁇ hr from the steering speed ⁇ hr and outputs it to the gear characteristic learning unit 83 (step S630).
- the gear characteristic learning unit 83 can learn when the steering speed ⁇ hr is equal to or higher than the predetermined speed L ⁇ and equal to or lower than the predetermined speed H ⁇ (> L ⁇ ), and the absolute value of the steering acceleration ⁇ hr is equal to or lower than the predetermined value H ⁇ (step S640). Then, the process proceeds to the next step. Otherwise, the learning operation is exited. If learning is possible, the AS_IS relative angle ⁇ hr is used to obtain the identifier sp from Equation 1, the learning point is specified (step S650), and the determination result Sj output from the steering determination unit 70 is input (step S660). .
- step S670 it is confirmed whether learning at the learning point corresponding to the identifier sp in the left turn is unlearned (step S680). If not learned, the AS_IS relative steering angle ⁇ hr is subtracted from the TS_IS relative steering angle ⁇ sr to calculate the relative steering angle difference Rs (step S690) and output to the learning result holding unit 84 (step S700). Both steps are skipped.
- step S670 it is confirmed whether learning at the learning point corresponding to the identifier sp in the right turn has not been learned (step S710).
- the relative steering angle difference Rs is calculated in the same way as in the case of “left turn” (step S720), and is output to the learning result holding unit 84 (step S730). If learned, both steps are skipped. .
- the determination result Sj is “steering” (step S670)
- learning is not performed.
- the average of the relative rudder angle difference Rs at the left-turned learning point out of the relative rudder angle difference Rs held in the learning result holding unit 84 is calculated. It outputs as the offset Csl at the time of cutting (step S750).
- the average of the relative rudder angle difference Rs at the right turning learning point is calculated and output as the right turning offset Csr (step S760).
- the order of calculating the left-off offset Csl and the right-off offset Csr may be reversed. After both offsets are calculated, the average of the left-off offset Csl and the right-off offset Csr is calculated and output as the steering hold offset (step S770).
- the left-off offset Csl, the right-off offset Csr, and the steering-offset offset are stored in the correction offset storage unit 90 (step S780), and learning is completed.
- the presence or absence of learning at each learning point may be determined based on whether or not the relative steering angle difference Rs is stored in the learning result holding unit 84, or a flag or the like is separately prepared in the learning result holding unit 84. You may use it.
- FIG. 13 shows how the estimation changes due to the use of the above-described correction offset.
- FIG. 13 shows the TS_IS relative rudder angle as a one-dot chain line and the TS_IS estimated rudder angle as a solid line, with the vertical axis as the angle and the horizontal axis as the time. This shows how the change occurs.
- the TS_IS estimated rudder angle ⁇ se is calculated by adding the correction offset selected according to the determination result (left turn / right turn / steering) to the AS_IS relative rudder angle ⁇ hr.
- AS_IS relative steering angle ⁇ hr plus right turn offset Csr ( ⁇ hr + Csr), steering hold offset Csk added data ( ⁇ hr + Csk) and left turn offset Csl added ( ⁇ hr + Csl), It shows with a broken line in order.
- the TS_IS estimated steering angle ⁇ se is also substantially constant.
- the torque sensor is a double system
- the 20 ° rotor sensor 22 outputs TS_IS angles ⁇ s1 and ⁇ s2.
- the TS_IS estimated rudder angle ⁇ se is added to these two data to perform fault diagnosis and backup. That is, a majority decision is made based on the three TS_IS angles ⁇ s1 and ⁇ s2 and the TS_IS estimated steering angle ⁇ se, and when the ratio becomes 2 to 1, it is diagnosed that the angle sensor corresponding to 1 has failed.
- the angle sensor corresponding to 1 is one system of the 20 ° rotor sensor 22, the other system is used as a backup.
- the majority decision is made, the same value may be regarded as the same value if the difference is within a certain range.
- the torque sensor is not a dual system, backup cannot be performed, but failure diagnosis is possible. That is, one TS_IS angle ⁇ s output from the 20 ° rotor sensor 22 is compared with the TS_IS estimated steering angle ⁇ se, and when they do not match (or when the difference is equal to or greater than a certain range), the 20 ° rotor sensor 22 and / or It can be diagnosed that the Hall IC sensor 21 has failed.
- the correction offset calculation unit 80 subtracts the AS_IS relative steering angle ⁇ hr from the TS_IS relative steering angle ⁇ sr.
- the TS_IS relative steering angle ⁇ hr may be subtracted from the AS_IS relative steering angle ⁇ hr. .
- the steering angle estimation unit 100 does not add the correction offset to the AS_IS relative steering angle ⁇ hr, but subtracts it.
- the steering-holding offset Csk is calculated by the correction offset calculation unit 80 and stored in the correction offset storage unit 90.
- the correction offset storage unit 90 stores the left-offset offset Csl and the right-offset offset Csr. Only the steering wheel offset Csk may be calculated by the steering angle estimation unit 100.
- the method of the relative steering angle formation in the relative steering angle conversion unit 60 may be a method other than the above, and if there is no difference in the angle cycle, the relative steering angle conversion is unnecessary.
- the method of steering determination in the steering determination unit 70 may be a method other than the above.
- the steering direction may be determined using the steering angle and the motor rotation angular velocity.
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
Description
2 ステアリングシャフト(コラム軸、ハンドル軸)
10 トルクセンサ
12 車速センサ
13 バッテリ
20 モータ
21 ホールICセンサ
22 20°ロータセンサ
24 40°ロータセンサ
30 コントロールユニット(ECU)
60 相対舵角化部
70 操舵判定部
71 ヒステリシス幅設定部
72 ヒステリシス中心値演算部
73 操舵方法判定部
74 保舵判定部
80 補正用オフセット算出部
81 操舵速度算出部
82 操舵加速度算出部
83 ギア特性学習部
84 学習結果保持部
90 補正用オフセット記憶部
100 舵角推定部
Claims (8)
- ギア機構を介して第1舵角を検出する第1角度センサと、前記ギア機構を介さずに第2舵角を検出する第2角度センサとを少なくとも具備する電動パワーステアリング装置において、
前記ギア機構の特性を学習して補正用オフセットを算出する補正用オフセット算出部と、
前記補正用オフセットを用いて前記第2舵角を推定する舵角推定部とを備えることを特徴とする電動パワーステアリング装置。 - 前記第1舵角及び前記第2舵角を相対舵角化する相対舵角化部を備え、
前記補正用オフセット算出部は、前記相対舵角化された第1舵角及び第2舵角に基づいて前記補正用オフセットを算出する請求項1に記載の電動パワーステアリング装置。 - 操舵方向を判定する操舵判定部を備え、
前記補正用オフセット算出部は、前記判定された操舵方向に応じた前記補正用オフセットを算出する請求項1又は2に記載の電動パワーステアリング装置。 - 前記第2角度センサが多重系統になっており、前記第2角度センサの1系統が故障した場合、前記第2舵角の実測値及び推定値を用いて前記第2角度センサのバックアップを行うようになっている請求項1乃至3のいずれかに記載の電動パワーステアリング装置。
- 前記第2舵角の実測値及び推定値に基づいて、前記第2角度センサの監視及び診断を行う請求項1乃至4のいずれかに記載の電動パワーステアリング装置。
- 前記補正用オフセット算出部は、
前記第1舵角及び前記第2舵角の偏差を学習して補正用オフセットを算出する請求項1乃至5のいずれかに記載の電動パワーステアリング装置。 - 前記補正用オフセット算出部は、
前記第1角度センサの角度周期の範囲内において所定の間隔で算出される複数の前記偏差を学習し、学習された前記複数の偏差の平均値を前記補正用オフセットとする請求項6に記載の電動パワーステアリング装置。 - 前記第1角度センサ及び前記第2角度センサがステアリングシャフトのインプットシャフト側に搭載されている請求項1乃至7のいずれかに記載の電動パワーステアリング装置。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201680068927.6A CN108290606B (zh) | 2015-12-10 | 2016-11-04 | 电动助力转向装置 |
JP2017550661A JP6274371B2 (ja) | 2015-12-10 | 2016-11-04 | 電動パワーステアリング装置 |
BR112018011128A BR112018011128A2 (pt) | 2015-12-10 | 2016-11-04 | aparelho de direção elétrica assistida |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2015241048 | 2015-12-10 | ||
JP2015-241048 | 2015-12-10 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2017098839A1 true WO2017098839A1 (ja) | 2017-06-15 |
Family
ID=59013036
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2016/082750 WO2017098839A1 (ja) | 2015-12-10 | 2016-11-04 | 電動パワーステアリング装置 |
Country Status (4)
Country | Link |
---|---|
JP (4) | JP6274371B2 (ja) |
CN (1) | CN108290606B (ja) |
BR (1) | BR112018011128A2 (ja) |
WO (1) | WO2017098839A1 (ja) |
Families Citing this family (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2019162321A (ja) * | 2018-03-20 | 2019-09-26 | 株式会社三洋物産 | 遊技機 |
JP2019162320A (ja) * | 2018-03-20 | 2019-09-26 | 株式会社三洋物産 | 遊技機 |
JP2019162319A (ja) * | 2018-03-20 | 2019-09-26 | 株式会社三洋物産 | 遊技機 |
JP7312074B2 (ja) * | 2019-09-26 | 2023-07-20 | ダイハツ工業株式会社 | 舵角制御装置 |
US11975771B2 (en) * | 2019-10-31 | 2024-05-07 | Nsk Ltd. | Vehicle steering device |
JP7441061B2 (ja) * | 2020-01-31 | 2024-02-29 | ミネベアミツミ株式会社 | アブソリュートエンコーダ、アブソリュートエンコーダの角度誤差情報出力プログラム、アブソリュートエンコーダの角度誤差情報出力方法 |
JP2021013856A (ja) * | 2020-11-18 | 2021-02-12 | 株式会社三洋物産 | 遊技機 |
JP2021013855A (ja) * | 2020-11-18 | 2021-02-12 | 株式会社三洋物産 | 遊技機 |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2006292452A (ja) * | 2005-04-07 | 2006-10-26 | Matsushita Electric Ind Co Ltd | 回転角度検出装置 |
JP2007008299A (ja) * | 2005-06-30 | 2007-01-18 | Toyota Motor Corp | 車両の操舵アシスト装置 |
JP2010269763A (ja) * | 2009-05-25 | 2010-12-02 | Jtekt Corp | 電動パワーステアリング装置 |
JP2012025262A (ja) * | 2010-07-22 | 2012-02-09 | Jtekt Corp | 電動パワーステアリング装置 |
JP2012116292A (ja) * | 2010-11-30 | 2012-06-21 | Nsk Ltd | 電動パワーステアリング装置 |
JP2014055629A (ja) * | 2012-09-12 | 2014-03-27 | Toyota Motor Corp | 無段変速機の制御装置 |
Family Cites Families (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4119153B2 (ja) * | 2002-04-17 | 2008-07-16 | 矢崎総業株式会社 | 回転角度検出装置及び検出方法 |
JP2006234723A (ja) * | 2005-02-28 | 2006-09-07 | Matsushita Electric Ind Co Ltd | 回転角検出装置の回転角補正方法 |
JP5128766B2 (ja) * | 2005-11-08 | 2013-01-23 | 東洋電装株式会社 | 舵角センサ |
US7543679B2 (en) * | 2006-07-28 | 2009-06-09 | Delphi Technologies, Inc. | Compensation of periodic sensor errors in electric power steering systems |
JP2012194167A (ja) * | 2011-03-02 | 2012-10-11 | Jtekt Corp | 回転角度検出装置および電動パワーステアリング装置 |
KR20130022303A (ko) * | 2011-08-26 | 2013-03-06 | 엘지이노텍 주식회사 | 차량의 조향각 센서의 절대각을 측정하는 방법 |
JP5893498B2 (ja) * | 2012-04-26 | 2016-03-23 | 日立オートモティブシステムズステアリング株式会社 | パワーステアリング装置およびパワーステアリング装置の制御装置 |
KR101922495B1 (ko) * | 2013-04-25 | 2018-11-27 | 주식회사 만도 | 토크 신뢰성 제공 방법 및 제어 장치 |
CN104071224A (zh) * | 2014-06-08 | 2014-10-01 | 山东天海科技股份有限公司 | 新能源汽车电动助力转向系统及其电子控制单元控制方法 |
-
2016
- 2016-11-04 CN CN201680068927.6A patent/CN108290606B/zh active Active
- 2016-11-04 WO PCT/JP2016/082750 patent/WO2017098839A1/ja active Application Filing
- 2016-11-04 JP JP2017550661A patent/JP6274371B2/ja active Active
- 2016-11-04 BR BR112018011128A patent/BR112018011128A2/pt not_active Application Discontinuation
-
2018
- 2018-01-10 JP JP2018001817A patent/JP6493570B2/ja active Active
- 2018-01-10 JP JP2018001819A patent/JP6493572B2/ja active Active
- 2018-01-10 JP JP2018001818A patent/JP6493571B2/ja active Active
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2006292452A (ja) * | 2005-04-07 | 2006-10-26 | Matsushita Electric Ind Co Ltd | 回転角度検出装置 |
JP2007008299A (ja) * | 2005-06-30 | 2007-01-18 | Toyota Motor Corp | 車両の操舵アシスト装置 |
JP2010269763A (ja) * | 2009-05-25 | 2010-12-02 | Jtekt Corp | 電動パワーステアリング装置 |
JP2012025262A (ja) * | 2010-07-22 | 2012-02-09 | Jtekt Corp | 電動パワーステアリング装置 |
JP2012116292A (ja) * | 2010-11-30 | 2012-06-21 | Nsk Ltd | 電動パワーステアリング装置 |
JP2014055629A (ja) * | 2012-09-12 | 2014-03-27 | Toyota Motor Corp | 無段変速機の制御装置 |
Also Published As
Publication number | Publication date |
---|---|
JP6493570B2 (ja) | 2019-04-03 |
JP2018076068A (ja) | 2018-05-17 |
JP2018052497A (ja) | 2018-04-05 |
JP2018052496A (ja) | 2018-04-05 |
BR112018011128A2 (pt) | 2018-11-21 |
CN108290606A (zh) | 2018-07-17 |
JPWO2017098839A1 (ja) | 2017-12-21 |
JP6274371B2 (ja) | 2018-02-07 |
JP6493572B2 (ja) | 2019-04-03 |
CN108290606B (zh) | 2019-07-09 |
JP6493571B2 (ja) | 2019-04-03 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP6493572B2 (ja) | 電動パワーステアリング装置 | |
JP5967338B1 (ja) | 電動パワーステアリング装置 | |
US7130728B2 (en) | Vehicle steering apparatus and method for controlling the same | |
JP6635129B2 (ja) | 電動パワーステアリング装置 | |
JP6061117B2 (ja) | 電動パワーステアリング装置 | |
US8823305B2 (en) | Electric power steering system | |
JP2009012511A (ja) | 電動パワーステアリング装置 | |
US20070192004A1 (en) | Controller for electronic power steering apparatus | |
JP5999289B2 (ja) | 電動パワーステアリング装置の電源電圧診断装置 | |
JP2007008294A (ja) | 電動パワーステアリング装置 | |
JP2010184669A (ja) | 電動パワーステアリング装置の制御装置 | |
JP2003337006A (ja) | レゾルバを用いた回転角度検出装置およびこの装置を用いた制御装置 | |
US20220017144A1 (en) | Control device and control method for electric power steering apparatus, and motor module | |
US11496086B2 (en) | Control device for motor | |
JP2012017026A (ja) | 電動パワーステアリング装置 | |
JP2010143429A (ja) | 電動パワーステアリング装置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 16872739 Country of ref document: EP Kind code of ref document: A1 |
|
ENP | Entry into the national phase |
Ref document number: 2017550661 Country of ref document: JP Kind code of ref document: A |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
REG | Reference to national code |
Ref country code: BR Ref legal event code: B01A Ref document number: 112018011128 Country of ref document: BR |
|
ENP | Entry into the national phase |
Ref document number: 112018011128 Country of ref document: BR Kind code of ref document: A2 Effective date: 20180530 |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 16872739 Country of ref document: EP Kind code of ref document: A1 |