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1. 发明授权

US09327760B2 Electric power steering system 有权
标题翻译：电动助力转向系统
公开(公告)号：US09327760B2
公开(公告)日：2016-05-03
申请号：US14271973
申请日：2014-05-07
申请人： JTEKT CORPORATION
发明人： Terutaka Tamaizumi , Hirozumi Eki , Masayuki Kita , Isao Namikawa , Jun Hasegawa , Akihiko Nishimura
IPC分类号： B62D5/00 , B62D5/04 , B62D6/00
CPC分类号： B62D5/0463 , B62D5/0472 , B62D6/008
摘要： There is provided an electric power steering system that makes it possible to improve the driver's steering feel, and that includes a controller that controls driving of a motor. The controller computes a first assist component based on a steering torque. The controller computes a torque command value based on a basic drive torque that is the sum of the steering torque and the first assist component, and computes an assist compensation component through feedback control based on the torque command value. The controller computes a steered angle command value based on a value obtained by adding the assist compensation component to the basic drive torque, and computes a second assist component through feedback control based on the steered angle command value. The controller controls driving of the motor based on an assist command value that is the sum of the first assist component and the second assist component.
摘要翻译：提供了一种能够提高驾驶员的转向感觉的电动助力转向系统，并且包括控制电动机的驱动的控制器。控制器基于转向扭矩计算第一辅助部件。控制器基于作为转向转矩和第一辅助部件的总和的基本驱动转矩来计算转矩指令值，并且通过基于转矩指令值的反馈控制来计算辅助补偿成分。控制器基于通过将辅助补偿分量加到基本驱动转矩而获得的值来计算转向角度指令值，并且通过基于转向角度指令值的反馈控制来计算第二辅助分量。控制器基于作为第一辅助部件和第二辅助部件的总和的辅助命令值来控制马达的驱动。

2. 发明授权

US11066095B2 Controller for steering system and method for controlling steering system 有权
公开(公告)号：US11066095B2
公开(公告)日：2021-07-20
申请号：US16546517
申请日：2019-08-21
申请人： JTEKT CORPORATION , TOYOTA JIDOSHA KABUSHIKI KAISHA
发明人： Takashi Kodera , Masayuki Kita , Toru Takashima , Tetsuya Morino
IPC分类号： B62D5/00 , B62D6/02 , B62D5/04
摘要： A controller includes a control circuit configured to calculate a target corresponding steered angle that is a target value of a corresponding steered angle based on the transmission ratio associated with the vehicle speed. The corresponding steered angle is a rotation angle of a rotation shaft, which is convertible to the steered angle whose magnitude is changed relative to a value indicating the steering angle. The control circuit is configured to control the actuation of the motor so that an actual corresponding steered angle is a final target corresponding steered angle that is based on the target corresponding steered angle. The control circuit is configured to calculate the target corresponding steered angle by adjusting the transmission ratio based on a value indicating acceleration or deceleration of a vehicle.

3. 发明授权

US10933909B2 Vehicle control apparatus 有权
公开(公告)号：US10933909B2
公开(公告)日：2021-03-02
申请号：US16136565
申请日：2018-09-20
申请人： JTEKT CORPORATION
发明人： Takashi Kodera , Masayuki Kita
IPC分类号： B62D6/00 , B62D5/00 , B62D1/16 , B60W30/00 , G01L5/22 , B62D6/10 , B60W10/20 , B62D5/04
摘要： A control apparatus calculates an axial force deviation, which is a difference between an estimated axial force and an ideal axial force based on a target pinion angle of a pinion shaft in association with a turning operation of steered wheels. The estimated axial force is based on a state variable that reflects vehicle behavior or a road condition. The control apparatus includes a steering angle ratio change control circuit configured to calculate a target pinion angle serving as a basis for calculation of the command value. The steering angle ratio change control circuit calculates a speed increasing ratio from a steering angle ratio set based on a vehicle speed and a base gear ratio of a steering mechanism, and calculates a correction angle for a target steering angle by multiplying the speed increasing ratio and the target steering angle together.

4. 发明授权

US10392019B2 Vehicle controller 有权
公开(公告)号：US10392019B2
公开(公告)日：2019-08-27
申请号：US15668294
申请日：2017-08-03
申请人： JTEKT CORPORATION
发明人： Shingo Maeda , Terutaka Tamaizumi , Jun Hasegawa , Masayuki Kita , Gempei Nakasone , Hiromasa Tamaki
IPC分类号： B60W30/18 , B62D1/28 , B62D15/02 , B60W30/12 , B60W50/08 , B60W50/10
摘要： An ECU includes a deviation calculating circuit an assist control circuit, an automatic steering control circuit including an intervention determination switching circuit, an adder, a current command value calculating circuit The intervention determination switching circuit includes a count amount calculating circuit, an adder, an immediately-preceding count amount output circuit, a switching determination circuit, and an output switching circuit. The count amount calculating circuit calculates a count amount having a positive value or a negative value based on a steering torque absolute value calculated by an absolute value switching circuit. The adder calculates a total count amount that is the total sum of a presently calculated count amount and an immediately-preceding count amount calculated in an immediately-preceding calculation cycle. The switching determination circuit determines a driver's intention to intervene in steering, based on whether the total count amount is equal to or greater than a count amount threshold value.

5. 发明授权

US09290200B2 Vehicle power steering system 有权
标题翻译：车辆动力转向系统
公开(公告)号：US09290200B2
公开(公告)日：2016-03-22
申请号：US14455407
申请日：2014-08-08
申请人： JTEKT CORPORATION
发明人： Terutaka Tamaizumi , Hirozumi Eki , Masayuki Kita , Isao Namikawa
IPC分类号： B62D5/00 , B62D6/00 , B62D15/00 , B62D5/04 , B62D15/02 , B62D1/28
CPC分类号： B62D5/0472 , B62D1/286 , B62D5/0463 , B62D15/025
摘要： In the vehicle power steering system, a first assist torque component is computed based on a steering torque and a vehicle speed. A target steered angle is computed based on the first assist torque component and the steering torque, and a second assist torque component is set based on the target steered angle and an actual steered angle. Then, the vehicle power steering system assists a steering operation by applying an assist torque Tas corresponding to the first assist torque component and the second assist torque component. Further, an ideal steered angle at which a vehicle is able to keep travelling in a lane is set based on image information on the lane captured by a camera, and a correction value is computed based on the deviation between the ideal steered angle and the actual steered angle. Then, the target steered angle is corrected by the correction value.
摘要翻译：在车辆动力转向系统中，基于转向转矩和车速来计算第一辅助转矩分量。基于第一辅助转矩分量和转向转矩来计算目标转向角，并且基于目标转向角度和实际转向角度来设定第二辅助转矩分量。然后，车辆动力转向系统通过施加与第一辅助转矩分量和第二辅助转矩分量对应的辅助转矩Tas来辅助转向操作。此外，基于由摄像机拍摄的车道的图像信息，设定车辆能够在车道中行驶的理想转向角度，并且基于理想转向角度与实际角度之间的偏差来计算校正值转向角度然后，通过校正值校正目标转向角度。

6. 发明授权

US08977437B2 Electric power steering system 有权
标题翻译：电动助力转向系统
公开(公告)号：US08977437B2
公开(公告)日：2015-03-10
申请号：US14023768
申请日：2013-09-11
申请人： JTEKT Corporation
发明人： Terutaka Tamaizumi , Hirozumi Eki , Masayuki Kita , Isao Namikawa
IPC分类号： B62D5/04 , B62D7/15 , B62D6/00
CPC分类号： B62D5/0463 , B62D5/0469 , B62D6/002 , B62D7/159
摘要： A target pinion angle computation unit computes a target pinion angle on the basis of a basic assist component and a steering torque, and computes the target pinion angle so as to rapidly increase a steering reaction force when it is determined based on the target pinion angle that a rack shaft of a rack-and-pinion mechanism reaches a position near a limit of a movable range of the rack shaft. In an EPS, a correction component for the basic assist component, which is necessary to increase the steering reaction force rapidly, is computed through execution of PID control for causing an actual pinion angle to coincide with the target pinion angle. Because the correction component is added to the basic assist component, the steering reaction force is increased rapidly when the rack shaft reaches the position near the limit of the movable range.
摘要翻译：目标小齿轮角度计算单元基于基本辅助分量和转向转矩来计算目标小齿轮角度，并且计算目标小齿轮角度，以便当基于目标小齿轮角度确定时快速增加转向反作用力，齿条 - 齿轮机构的齿条轴到达齿条轴的可移动范围的极限附近的位置。在EPS中，通过执行用于使实际小齿轮角度与目标小齿轮角度一致的PID控制来计算用于快速增加转向反作用力所需的基本辅助部件的校正部件。由于校正部件被添加到基本辅助部件，所以当齿条轴到达可动范围的极限附近的位置时，转向反作用力迅速增加。

7. 发明授权

US08775027B2 Electric power steering system 有权
标题翻译：电动助力转向系统
公开(公告)号：US08775027B2
公开(公告)日：2014-07-08
申请号：US13958118
申请日：2013-08-02
申请人： JTEKT Corporation
发明人： Terutaka Tamaizumi , Hirozumi Eki , Masayuki Kita , Isao Namikawa
IPC分类号： A01B69/00 , B62D6/00 , B62D11/00 , B62D12/00 , B63G8/20 , B63H25/04 , G05D1/00 , G06F7/00 , G06F17/00 , G06F19/00
CPC分类号： B62D5/0463 , B62D6/008
摘要： An electric power steering system includes a motor control device that controls, based on an assist command value, driving of a motor that gives an assist torque to a steering mechanism. The motor control device computes a first assist component based on a steering torque and a vehicle speed. A steered-angle command value is computed based on the steering torque and the first assist component, and a second assist component is computed by performing a feedback control that matches the steered angle with the steered-angle command value. The motor control device adds the second assist component to the first assist component so as to compute an assist command value. The motor control device includes a road information compensation portion that decreases an absolute value of the second assist component included in the assist command value when a skid is detected by a vehicle state detecting portion.
摘要翻译：电动助力转向系统包括电动机控制装置，其基于辅助指令值，控制向转向机构给出辅助转矩的电动机的驱动。马达控制装置基于转向扭矩和车速计算第一辅助部件。基于转向扭矩和第一辅助部件来计算转向指令值，并且通过执行与转向角度指令值匹配的转向角度的反馈控制来计算第二辅助部件。马达控制装置将第二辅助部件添加到第一辅助部件，以计算辅助指令值。马达控制装置包括：道路信息补偿部，其在由车辆状态检测部检测到滑行时，减小辅助指令值中包含的第二辅助分量的绝对值。

8. 发明授权

US09051004B2 Electric power steering system 有权
标题翻译：电动助力转向系统
公开(公告)号：US09051004B2
公开(公告)日：2015-06-09
申请号：US14463216
申请日：2014-08-19
申请人： JTEKT CORPORATION
发明人： Terutaka Tamaizumi , Masayuki Kita , Isao Namikawa , Hirozumi Eki
IPC分类号： A01B69/00 , B62D5/04 , B62D6/10
CPC分类号： B62D5/0463 , B62D6/008 , B62D6/10
摘要： A controller of an electric power steering system includes: a basic assist component computing unit (60) that computes a first assist component (Ta1*) based on a steering torque (Th); a steered angle command value computing unit (61) that computes a steered angle command value (θt*) based on the sum of the steering torque (Th) and the first assist component (Ta1*); and a steered angle feedback controller (62) that computes a second assist component (Ta2*) through feedback control on an actual steered angle (θt). The controller further includes: a correction component computing unit (65) that computes a correction component (Tc*) based on a steering angle (θs); and an assist command value computing unit (50) that computes an assist command value (Ta*) by subtracting the correction component (Tc*) from the sum of the first assist component (Ta1*) and the second assist component (Ta2*).
摘要翻译：电动助力转向系统的控制器包括：基于转向转矩（Th）计算第一辅助分量（Ta1 *）的基本辅助部件计算单元（60）; 基于转向转矩（Th）和第一辅助分量（Ta1 *）的和计算转向角度指令值（＆amp; t *）的转向指令值运算部，以及转向角度反馈控制器（62），其通过对实际转向角（＆amp; t）进行反馈控制来计算第二辅助分量（Ta2 *）。该控制器还包括：校正分量计算单元，其基于转向角（＆amp; s）来计算校正分量（Tc *）; 以及辅助指令值计算单元，通过从第一辅助分量（Ta1 *）和第二辅助分量（Ta2 *）的和中减去校正分量（Tc *）来计算辅助指令值（Ta *），。

9. 发明授权

US09045157B2 Electric power steering apparatus 有权
标题翻译：电动助力转向装置
公开(公告)号：US09045157B2
公开(公告)日：2015-06-02
申请号：US14176828
申请日：2014-02-10
申请人： JTEKT CORPORATION
发明人： Terutaka Tamaizumi , Hirozumi Eki , Masayuki Kita , Isao Namikawa
IPC分类号： B62D5/04 , B62D6/04
CPC分类号： B62D5/0463 , B62D5/04 , B62D6/04
摘要： A zero point change model executes banked road correspondence control when a vehicle travels on a banked road. By this control, a target turning angle when the total torque is zero can be changed from a neutral turning angle to a lower side of an inclined road surface. Thus, a steering angle of a steering wheel according to a banked road can be realized even if the driver does not apply steering torque during traveling on a banked road. Accordingly, the driver can obtain a suitable steering feeling when traveling on a banked road while achieving the target turning angle according to the total torque.
摘要翻译：零点变化模型在车辆行驶在堤岸道路上时执行行驶道路通信控制。通过该控制，当总转矩为零时的目标转向角度可以从中立转弯角度改变到倾斜路面的下侧。因此，即使驾驶员在行驶中在道路上行驶时不施加转向扭矩，也能够实现与堤岸路相对的方向盘的转向角度。因此，当根据总转矩达到目标转向角度时，驾驶员可以在行驶在道路上时获得合适的转向感。

10. 发明授权

US11046358B2 Vehicle control device 有权
公开(公告)号：US11046358B2
公开(公告)日：2021-06-29
申请号：US15975862
申请日：2018-05-10
申请人： JTEKT CORPORATION
发明人： Takashi Kodera , Masayuki Kita
IPC分类号： B62D5/04 , B62D6/00
摘要： An estimated axial force computation circuit of a control device has an axial force computation circuit that computes an axial force that acts on a steered shaft on the basis of a current value of a steering motor. The estimated axial force computation circuit has a friction compensation circuit, an efficiency compensation circuit, and a gradient compensation circuit as static characteristic computation circuits that compensate for an effect of the static characteristics of a steering mechanism on the axial force computed. The estimated axial force computation circuit has a filter as a dynamic characteristic computation circuit that compensates for an effect of the dynamic characteristics of the steering mechanism. The filter removes, from the axial force, an effect of the viscosity and the inertia of the steering motor. The axial force after compensation is used to control a reaction force motor.

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