WO2019058081A1 - Adaptation d'un gain de dérivée en fonction du couple volant pour améliorer le ressenti d'un système de direction assistée - Google Patents
Adaptation d'un gain de dérivée en fonction du couple volant pour améliorer le ressenti d'un système de direction assistée Download PDFInfo
- Publication number
- WO2019058081A1 WO2019058081A1 PCT/FR2018/052334 FR2018052334W WO2019058081A1 WO 2019058081 A1 WO2019058081 A1 WO 2019058081A1 FR 2018052334 W FR2018052334 W FR 2018052334W WO 2019058081 A1 WO2019058081 A1 WO 2019058081A1
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- WIPO (PCT)
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- actual
- threshold
- derivative
- thresh
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/001—Mechanical components or aspects of steer-by-wire systems, not otherwise provided for in this maingroup
- B62D5/005—Mechanical components or aspects of steer-by-wire systems, not otherwise provided for in this maingroup means for generating torque on steering wheel or input member, e.g. feedback
- B62D5/006—Mechanical components or aspects of steer-by-wire systems, not otherwise provided for in this maingroup means for generating torque on steering wheel or input member, e.g. feedback power actuated
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- 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 power steering devices.
- It relates more particularly to power steering devices comprising a steering wheel on which a driver can exert a maneuvering force, called “flying torque", and in which a controller realizes a servo control of the steering mechanism using as a regulation variable said flying couple.
- Such controllers are increasingly efficient and allow in particular to provide a steering wheel torque that is particularly consistent with the dynamic situation of the vehicle.
- said controllers incorporate in particular electronic and software functions that are increasingly numerous and complex.
- the objects assigned to the invention therefore seek to overcome the aforementioned drawbacks and to propose a new type of controller which, while ensuring stability, reactivity and precision of the power steering system, provides the driver with excellent comfort on the one hand. driving and on the other hand a feeling of the behavior of said power steering system, as well as a feeling of the interaction of said steering mechanism with the road, which is the most natural and the most useful information carrier possible.
- a power steering device comprising a steering wheel on which a driver can exert a maneuvering force, called “flying torque”, and an assistance motor controlled by a controller that uses at least one closed-loop control law for controlling said flying torque
- said controller comprising at least one feedback branch, called a “derivative branch”, which calculates a so-called “derivative component” by measuring or by evaluating an effective force parameter which corresponds to the actual flying torque, or an image quantity of the actual flying torque whose value and variations are correlated with the value and the variations of said actual flying torque, then calculating a derivative value time of said effective effort parameter, then multiplying said time derivative value by a derivative gain
- said device being characterized in that the The controller uses three-dimensional mapping to adjust the derivative gain as a function of both the actual effort parameter and the longitudinal velocity of the vehicle.
- the use of a derivative gain mapping using several input parameters here at least two input parameters, namely the effective effort parameter and the longitudinal speed parameter, makes it possible to optimize the automatic adjustment of the derivative gain as a function of several input parameters that accurately and comprehensively characterize the life situation of the vehicle.
- the invention therefore makes it possible to associate with each life situation of the vehicle, duly characterized by the various input parameters that come into the composition of the map, a derivative gain that corresponds to the best possible compromise, in the situation considered, between the different requirements of stability, comfort, precision, reactivity, and quality of feeling.
- Figure 1 illustrates, in a schematic view, a power steering device according to the invention.
- Figure 2 illustrates a map for adjusting the derivative gain in accordance with the invention.
- the present invention relates to a power steering device 1.
- Said device comprises, in a manner known per se, and as shown in FIG. 1, a driving wheel 2 on which a driver can exercise a driving force, called "flying torque" T2.
- Said device 1 also comprises an assistance motor 3 controlled by a controller 4.
- the assistance motor 3 is preferably an electric motor, for example of the brushless type.
- the controller 4 uses at least one closed-loop control law which provides a regulation of the flywheel torque T2.
- the controller 4 determines, based on various parameters that make it possible to characterize a dynamic situation of the vehicle at a given instant, a torque setpoint T2_set corresponding to the torque that the driver should in principle feel in the steering wheel 2 in the situation considered.
- the controller 4 then considers the difference (the difference)
- AT2 T2_set - T2_actual
- the power steering device 1 may comprise, in a manner known per se, a steering mechanism which makes it possible to modify the orientation of a steered wheel, or preferably of at least two steered wheels 5, 6.
- the steering mechanism may comprise for this purpose a rack 7, guided in translation in a steering box, and whose ends are connected to steering rods 8, 9 which control the yawning orientation of the stub axle carrying the wheels 5, 6.
- the steering wheel 2 can preferably engage the rack 7 by means of a steering column 10 carrying a driving pinion 11.
- the assistance motor 3 can in turn drive the steering mechanism, and more preferably the rack 7, by meshing, preferably via a transmission member 12, gear reducer type or ball screw, or on the column of direction 10, or directly on the rack 7.
- the controller 4 comprises at least one feedback branch 13, referred to as
- Derivative branch which calculates a component called “derivative component” Cd by measuring or evaluating an effective force parameter that corresponds to the actual steering torque T2_actual, or that corresponds to an image quantity of the actual steering torque T2_actual whose value and, respectively, the variations are correlated with the value and, respectively, with the variations of said actual flying torque T2_actual,
- the effective stress parameter will be the actual steering torque T2_actual.
- T2_actual the torque parameter
- the actual flying torque T2_actual can for example be measured by a torque sensor 14, preferably placed on the steering column 10, or else be estimated from other parameters by an appropriate estimation algorithm.
- any quantity which will give a faithful image of the actual flying torque T2_actual and for example which will be correlated with the actual flying torque T2_actual by means of a well-identified assistance law, so that the value of said actual effort parameter (at a given moment) will be representative of the value of the actual steering torque T2_actual, and that the variations of the value of said effective stress parameter over a given time interval will be representative of the variations of the value of the actual steering torque T2_actual over the same time interval.
- the time derivative will correspond here to the first derivative, equal to the quotient of the variation d (T2_actual) of the value of the effective stress parameter T2_actual, such that this variation is observed over a predetermined time interval dt, by said time interval considered.
- Said time interval dt used will preferably correspond to the refresh period (duration of an iteration) of the branch of derivative 13, and more generally to the refresh period of the closed loop control law.
- the controller 4 uses a three-dimensional mapping to adjust the derivative gain Kd as a function of the effective force parameter T2_actual (first input of the map) and of the longitudinal speed of the vehicle V_vehic (second entry of the cartography).
- T2_actual first input of the map
- V_vehic second entry of the cartography
- the stability of the servocontrol in flying torque achieved by the closed loop control law and in particular the stability with respect to the disturbances, or even with respect to the "flying ripple", that is to say, vis-à-vis -vis the trend that has the steering wheel 2 to wave (typically at a frequency between 20 Kz and 40 Hz), especially when the driver releases the steering wheel 2;
- the comfort of maneuvering and the feeling of the mechanical behavior of the steering mechanism in response to the driver's maneuvers including in particular the feeling of friction, the feeling of viscosity, the feeling of the inertia of the steering mechanism, the feeling of detachment (ie the effort threshold that the driver has to overcome to trigger the displacement of the steering mechanism), but also the feeling of driving precision and "phasing" (i.e. the possible phase delay) between the conductive torque variations T2 controlled by maneuvers executed by the driver and the corresponding reactions of the vehicle which result in an effective and perceptible variation of the yaw rate of said vehicle;
- the three-dimensional cartography 15 comprises, as illustrated in FIG.
- the derivative gain Kd decreases when the actual force parameter T2_actual increases, while, in the parking domain D1, the derivative gain Kd increases when the actual force parameter T2_actual increases.
- the term “increase” in this description indicates an increase in absolute value (ie a distance from zero), while the term “decrease” indicates a decrease in absolute value. (that is, a zero reconciliation).
- the map 15 is capable of recognizing and managing different types of life situations, and of adjusting differently the derivative gain Kd as a function of each domain considered.
- the derivative gain Kd will preferably decrease, at the given velocity V_vehic, according to a monotonous decreasing function of the effective stress parameter T2_actual, and more preferably, according to a monotonous decreasing function of the actual flying torque T2_actual.
- this decreasing function will be continuous (that is to say, will correspond to a continuity class function of at least C °), so as to favor gentle evolutions between the different life situations falling within the rolling domain D2.
- the derivative gain Kd will preferably increase, at the given speed V_vehic, according to a monotonic function, and preferably continuous, of effective stress parameter T2_actual.
- the longitudinal speed threshold V_thresh is of course chosen so as to correspond in practice to a boundary between, on the one hand, a situation in which the vehicle is stationary, or progressing slowly in a parking maneuver, and, on the other hand, a situation in which the vehicle is traveling.
- the longitudinal speed threshold V_thresh which marks the boundary between the parking area D1 and the rolling area D2 is preferably (in absolute value) equal to or less than 5 km / h, preferably equal to or less than 3 km / h, or even less than or equal to 2 km / h.
- V_thresh 2 km / h has been chosen here.
- the mapping 15 provides a certain continuity of the transitions between the parking area D1 and the rolling area D2, so as to guarantee a smooth operation when crossing the border represented by the longitudinal speed threshold V_thresh.
- the three-dimensional cartography 15 preferably comprises a so-called "reversal point" PO, situated at the boundary between the parking domain D1 and the rolling domain D2 (that is to say, of which the coordinate in longitudinal velocity is equal to the velocity threshold V_thresh), and from which, if the mapping in the direction of an increasing longitudinal velocity V_vehic, in absolute value, and in the sense of a parameter, is described actual force T2_actual decreasing, in absolute value, then the derivative gain Kd increases (vector Fl on the surface of the map in Figure 2), in absolute value, while if we describe the map 15 always in the direction a longitudinal velocity V_vehic increasing, in absolute value, but in the sense of an actual effort parameter T2_actual increasing, in absolute value, the derivative gain Kd decreases (vector F2 on the surface of the map in Figure 2) , in abs value olute.
- reversal point PO situated at the boundary between the parking domain D1 and the rolling domain D2 (that is to say, of which the coordinate in longitudinal velocity is
- the rolling domain D2 comprises several subdomains, including:
- a second subdomain called “turning sub-domain” D2_2, which extends from and beyond a second predetermined effort threshold T_thresh_high, greater (in absolute value) than the first effort threshold T_tresh_low , and in which the derivative gain Kd remains lower, in absolute value, at a second gain threshold, called the "floor threshold” Kdjow, strictly lower, in absolute value, at the ceiling threshold Kd_high,
- T_tresh_low up to the second effort threshold T_thresh_high and in which, when the actual force parameter T2_actual increases, at given longitudinal velocity V_vehic, the derivative gain Kd decreases, in absolute value, from the ceiling threshold Kd_high to Kdjow floor threshold.
- the subdomains D2_1, D2_2, D2_3 of the rolling domain D2 preferably extend over a range of longitudinal speeds V_vehic whose amplitude is equal to or greater than 60 km / h, or even 90 km / h.
- said subdomains D2_1, D2_2, D2_3 may extend at least between a longitudinal velocity (absolute) V_vhic low of 60 km / h (or less), and a longitudinal high velocity which may for example correspond to the maximum speed of the vehicle, and / or be for example at least 150 km / h, or even at least 180 km / h.
- the floor threshold Kdjow and / or the ceiling threshold Kd_high of the derivative gain Kd can be adjusted, in this case respectively increased and decreased, when the longitudinal velocity V_vehic decreases ( in absolute value) below a predetermined pre-boundary threshold (for example V2 in the case of Kdjow), to approach the speed threshold V_thresh, as can be seen in FIG. 2.
- the neighborhood subdomain of the straight line D2_l, or subdomain "in the center” corresponds to a situation in which the vehicle is traveling in a straight line, or almost in a straight line, and in which the steering wheel 2, and more generally the steering mechanism, are therefore in a central position.
- the steering wheel torque T2 exerted by the driver, and consequently the effective force parameter T2_actual, is therefore relatively low, or even substantially zero.
- a derivative gain Kd which will be sufficiently high, in this case greater than the ceiling threshold Kd_high, to improve the comfort of the maneuver from the central position, and in particular on the one hand to limit the separation effort. that it is necessary for the driver to implement to put the steering mechanism in motion to the left or to the right, and / or on the other hand to reduce the feeling of discomfort provided by the friction during maneuvers. We will therefore move to the top of the map 15.
- the derivative gain Kd will also be chosen sufficiently moderate (low enough) not to generate phase advance, that is to say to prevent the vehicle reacts too quickly to a change of course, modifying its yaw rate even though the driver has just begun to operate the steering wheel 2.
- Turning subdomain D2_2 corresponds to a cornering situation, in which the vehicle is traveling with a steering wheel which has a significant steering angle, which is non-zero, to confer vehicle audit a curved trajectory. In such a situation, it will promote the "road feeling", that is to say the feeling of the grain of the road and interaction, including adhesion, between the tires of the wheels 5, 6 and the road.
- a derivative gain Kd sufficiently low, in this case less than or equal to the floor threshold Kdjow, and more generally lower than the derivative gain used in the vicinity of the straight line, and this to avoid add too much assistance which would over-compensate the rapid variations of flying torque (whose frequency is typically between 2 Hz and 20 Hz, or even 30 Hz), and thus which would excessively attenuate (filter) the information carried by these variations, which would degrade the road feeling.
- the derivative gain Kd will remain high enough to avoid creating a sensitivity to a phenomenon of "stick-slip" of the tires, according to which the tires tend, at the beginning of the maneuver, to hang strongly on the ground before take off rather abruptly.
- the floor threshold Kdjow of the derivative gain Kd will preferably be increased when the longitudinal velocity V_vehic decreases, and in particular when the longitudinal velocity V_vehic decreases, V_thresh longitudinal speed threshold direction (and therefore when approaching the parking area Dl), under a certain pre-boundary threshold, greater than the longitudinal threshold speed V_thresh, and noted here V2, which threshold of pre- V2 border is for example between 60 km / h and 30 km / h, as shown in Figure 2.
- the transition subdomain D2_3 will correspond to the transition situations that make it possible to move to a straight line situation to a turning situation, or conversely.
- the derivative gain Kd will therefore be adjusted gradually between the floor threshold Kdjow and the ceiling threshold Kd_high.
- the derivative gain Kd will be chosen so as to favor the implementation of a boosting torque.
- the time derivative dT2_actual / dt will therefore be particularly high.
- such a "step-input" maneuver can be characterized by a steering wheel rotation speed equal to or greater than a threshold of between 150 deg / s and 300 deg / s, and can in particular correspond to an urgent maneuver of obstacle avoidance.
- the derivative gain Kd will also be adjusted as a function of the longitudinal speed of the vehicle V_vehic so as to cause a less intense reaction to a large extent. speed at low speed, in order to prevent the steering assistance from favoring an accidental way out.
- the three-dimensional cartography 15 is designed in such a way that the resulting derivative gain Kd induces a phase delay, between a maneuver of the driver triggering a variation of the steering wheel torque T2, T2_actual and an actual change in the speed of rotation.
- the yaw of the vehicle resulting from said maneuver which is between at least 50 ms, preferably at least 100 ms, and at most 300 ms, preferably at most 200 ms.
- the power steering system 1 may surprise the driver by a much faster reaction than expected.
- the power steering system 1 may be perceived as "soft”, that is to say missing responsiveness and accuracy, which can be disadvantageous in particular during an obstacle avoidance or during a series of turns, situations that require a good synchronization between the reactions of the vehicle and the steering wheel movements 2 carried out by the driver.
- mapping of the derivative gain can be established, for example, empirically by test campaigns, and / or by numerical simulations.
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
Description
Claims
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2020517139A JP7233416B2 (ja) | 2017-09-25 | 2018-09-24 | パワーステアリングシステムの感覚を向上させるための操舵トルクに応じたドリフトゲインの調整 |
BR112020005607-3A BR112020005607A2 (pt) | 2017-09-25 | 2018-09-24 | dispositivo de direção assistida compreendendo um volante |
CN201880062076.3A CN111194289B (zh) | 2017-09-25 | 2018-09-24 | 根据方向盘转矩调整漂移增益以改善动力转向系统的感觉 |
DE112018004394.0T DE112018004394T5 (de) | 2017-09-25 | 2018-09-24 | Anpassung einer Driftverstärkung gemäß einem Lenkraddrehmoment zur Verbesserung des Gefühls von einem Servolenksystem |
US16/650,416 US11453433B2 (en) | 2017-09-25 | 2018-09-24 | Adaptation of a drift gain according to steering wheel torque in order to improve the feel of a power-steering system |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR1758827 | 2017-09-25 | ||
FR1758827A FR3071473B1 (fr) | 2017-09-25 | 2017-09-25 | Adaptation d’un gain de derivee en fonction du couple volant pour ameliorer le ressenti d’un systeme de direction assistee |
Publications (1)
Publication Number | Publication Date |
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WO2019058081A1 true WO2019058081A1 (fr) | 2019-03-28 |
Family
ID=60515591
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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PCT/FR2018/052334 WO2019058081A1 (fr) | 2017-09-25 | 2018-09-24 | Adaptation d'un gain de dérivée en fonction du couple volant pour améliorer le ressenti d'un système de direction assistée |
Country Status (7)
Country | Link |
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US (1) | US11453433B2 (fr) |
JP (1) | JP7233416B2 (fr) |
CN (1) | CN111194289B (fr) |
BR (1) | BR112020005607A2 (fr) |
DE (1) | DE112018004394T5 (fr) |
FR (1) | FR3071473B1 (fr) |
WO (1) | WO2019058081A1 (fr) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
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CN109799699B (zh) * | 2019-02-19 | 2022-06-07 | 阿波罗智能技术(北京)有限公司 | 自动驾驶系统控制参数处理方法、装置、设备、存储介质 |
US11702138B2 (en) * | 2021-05-24 | 2023-07-18 | Toyota Research Institute, Inc. | Method for lateral control assistance to enable one-handed driving of a vehicle |
Citations (5)
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JPH10291481A (ja) * | 1997-04-21 | 1998-11-04 | Kayaba Ind Co Ltd | 電動式パワーステアリングシステム |
US20020116105A1 (en) * | 2000-05-24 | 2002-08-22 | Hui Chen | Controller for motor power steering system |
DE10221616A1 (de) * | 2001-10-10 | 2003-04-30 | Mitsubishi Electric Corp | Elektrisches Servolenkungssteuersystem |
EP2184217A2 (fr) * | 2008-11-06 | 2010-05-12 | Omron Corporation | Dispositif de commande de direction assistée électrique |
WO2016203171A1 (fr) * | 2015-06-19 | 2016-12-22 | Jtekt Europe | Utilisation d'un filtre à avance de phase pour séparer le réglage du ressenti au volant du réglage de la stabilité d'une commande de direction assistée |
Family Cites Families (11)
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US5473231A (en) * | 1994-05-11 | 1995-12-05 | Trw Inc. | Method and apparatus for controlling an electric assist steering system using an adaptive torque filter |
US6107767A (en) * | 1998-03-20 | 2000-08-22 | Trw Inc. | Electric assist steering system having an improved motor current controller with notch filter |
US6046560A (en) * | 1998-03-20 | 2000-04-04 | Trw Inc. | Electric assist steering system having an improved motor current controller with gain scheduler |
GB9919277D0 (en) * | 1999-08-17 | 1999-10-20 | Trw Lucas Varity Electric | Method and apparatus for controlling an electric power assisted steering system using an adaptive blending torque filter |
DE60137373D1 (de) * | 2001-11-30 | 2009-02-26 | Trw Automotive Us Llc | Verfahren und Vorrichtung zum Regeln von Lenkgefühl mit Diagnosen |
JP5137456B2 (ja) | 2007-04-27 | 2013-02-06 | オムロンオートモーティブエレクトロニクス株式会社 | 電動式パワーステアリング制御装置 |
US8244434B2 (en) * | 2008-06-17 | 2012-08-14 | Agco Corporation | Methods and system for automatic user-configurable steering parameter control |
JP2014166805A (ja) * | 2013-02-28 | 2014-09-11 | Jtekt Corp | 電動パワーステアリング装置 |
KR102172089B1 (ko) * | 2014-10-07 | 2020-10-30 | 현대모비스 주식회사 | 페일세이프 기능을 갖는 전동식 동력 조향장치 및 그 제어방법 |
US9618938B2 (en) * | 2015-07-31 | 2017-04-11 | Ford Global Technologies, Llc | Field-based torque steering control |
JP6634878B2 (ja) * | 2016-02-26 | 2020-01-22 | 株式会社ジェイテクト | 操舵制御装置 |
-
2017
- 2017-09-25 FR FR1758827A patent/FR3071473B1/fr active Active
-
2018
- 2018-09-24 BR BR112020005607-3A patent/BR112020005607A2/pt not_active Application Discontinuation
- 2018-09-24 CN CN201880062076.3A patent/CN111194289B/zh active Active
- 2018-09-24 US US16/650,416 patent/US11453433B2/en active Active
- 2018-09-24 JP JP2020517139A patent/JP7233416B2/ja active Active
- 2018-09-24 WO PCT/FR2018/052334 patent/WO2019058081A1/fr active Application Filing
- 2018-09-24 DE DE112018004394.0T patent/DE112018004394T5/de active Pending
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
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JPH10291481A (ja) * | 1997-04-21 | 1998-11-04 | Kayaba Ind Co Ltd | 電動式パワーステアリングシステム |
US20020116105A1 (en) * | 2000-05-24 | 2002-08-22 | Hui Chen | Controller for motor power steering system |
DE10221616A1 (de) * | 2001-10-10 | 2003-04-30 | Mitsubishi Electric Corp | Elektrisches Servolenkungssteuersystem |
EP2184217A2 (fr) * | 2008-11-06 | 2010-05-12 | Omron Corporation | Dispositif de commande de direction assistée électrique |
WO2016203171A1 (fr) * | 2015-06-19 | 2016-12-22 | Jtekt Europe | Utilisation d'un filtre à avance de phase pour séparer le réglage du ressenti au volant du réglage de la stabilité d'une commande de direction assistée |
Also Published As
Publication number | Publication date |
---|---|
JP7233416B2 (ja) | 2023-03-06 |
FR3071473B1 (fr) | 2021-12-10 |
BR112020005607A2 (pt) | 2020-09-29 |
CN111194289A (zh) | 2020-05-22 |
CN111194289B (zh) | 2022-06-28 |
US20210188344A1 (en) | 2021-06-24 |
US11453433B2 (en) | 2022-09-27 |
DE112018004394T5 (de) | 2020-05-14 |
JP2020535056A (ja) | 2020-12-03 |
FR3071473A1 (fr) | 2019-03-29 |
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