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1. 发明授权

US09550524B2 Steering control device 有权
标题翻译：转向控制装置
公开(公告)号：US09550524B2
公开(公告)日：2017-01-24
申请号：US14428394
申请日：2013-10-01
申请人： Nissan Motor Co., Ltd.
发明人： Yuya Takeda
IPC分类号： B62D6/00 , B62D15/02 , G06K9/00
CPC分类号： B62D6/008 , B62D15/025 , G06K9/00798
摘要： A steering control device includes a steering reaction force control unit that applies a steering reaction force to a steering unit in accordance with a steering reaction force characteristic that is based on steering torque and steering angle of the steering unit in which the steering torque increases as the steering angle increases. A curvature detection unit detects a curvature of a white line. An offset unit calculates an offset amount that increases as the detected curvature increases and that offsets the steering reaction force characteristic such that a neutral point of the steering is moved in a curve direction according to a magnitude of the detected curvature. A lateral acceleration detection unit detects a lateral acceleration of a host vehicle. An offset suppression unit suppresses an increase in the offset amount more as an absolute value of the detected lateral acceleration increases.
摘要翻译：转向控制装置包括转向反作用力控制单元，该转向反作用力控制单元根据转向转矩和转向转矩转向角转向角的转向反作用力特性向转向单元施加转向反作用力，转向角度增加。曲率检测单元检测白线的曲率。偏移单元计算随检测曲率增加而增加的偏移量，并且使转向反作用力特性偏移，使得转向的中性点根据检测到的曲率的大小在曲线方向上移动。横向加速度检测单元检测主车辆的横向加速度。偏移抑制单元随着检测到的横向加速度的绝对值增加而抑制偏移量的增加。

2. 发明授权

US09415803B2 Stability control device 有权
标题翻译：稳定控制装置
公开(公告)号：US09415803B2
公开(公告)日：2016-08-16
申请号：US14652473
申请日：2013-12-05
申请人： Nissan Motor Co., Ltd.
发明人： Yuya Takeda
IPC分类号： B62D15/02 , B62D5/04 , B60R1/00 , B62D6/00
CPC分类号： B62D15/025 , B60R1/00 , B60R2300/30 , B60R2300/804 , B62D5/04 , B62D6/003 , B62D6/008
摘要： A stability control device is provided that controls a turning amount of the turning unit based on a steer-by-wire turning amount corresponding to a steering amount of a steering unit that is mechanically detached from the turning unit and based on a suppression turning amount for suppressing a yaw angle that is generated to a vehicle by a disturbance. The stability control device corrects the suppression turning amount to increase as the lateral position of a host vehicle becomes closer to the white line, when controlling the steering reaction force that is applied to the steering unit based on the steering amount, without reflecting the suppression turning amount on the steering reaction force that is applied to the steering unit.
摘要翻译：提供了一种稳定性控制装置，其基于与从所述转向单元机械地分离的转向单元的转向量对应的线控转向量，基于所述转向单元的转向量，基于用于抑制由于扰动而对车辆产生的偏航角。稳定性控制装置根据本车辆的横向位置变得更接近于白线，在不反映抑制转弯的情况下控制对转向装置施加的转向反作用力的情况下，校正抑制转弯量的增加对施加到转向单元的转向反作用力的量。

3. 发明授权

US09238480B2 Steering control device 有权
标题翻译：转向控制装置
公开(公告)号：US09238480B2
公开(公告)日：2016-01-19
申请号：US14430745
申请日：2013-09-11
申请人： NISSAN MOTOR CO., LTD.
发明人： Yuya Takeda
IPC分类号： B62D6/00 , B62D15/02 , G06K9/00
CPC分类号： B62D6/008 , B62D15/025 , G06K9/00798
摘要： The turning amount of a turning unit is controlled based on the steering amount of a steering unit mechanically uncoupled from the turning unit, and the change amount of the steering reaction force relative to the change amount of the self-aligning torque in a steering reaction force characteristic is increased as a curvature of a white line is increased when the steering reaction force corresponding to the self-aligning torque is applied to the steering unit based on the steering reaction force characteristic corresponding to the self-aligning torque such that the larger the self-aligning torque, the larger the steering reaction force.
摘要翻译：基于从转向单元机械地脱开的转向单元的转向量和转向反作用力中的自动对准转矩的变化量的转向反作用力的变化量来控制转向单元的转动量基于与自对准转矩相对应的转向反作用力特性，当对应于自对准转矩的转向反作用力被施加到转向单元时，随着白线的曲率增加，特性增加，使得自身的自我越大对位扭矩，转向反作用力越大。

4. 发明申请

US20150210318A1 STABILITY CONTROL DEVICE 有权
标题翻译：稳定性控制装置
公开(公告)号：US20150210318A1
公开(公告)日：2015-07-30
申请号：US14427894
申请日：2013-09-25
申请人： NISSAN MOTOR CO., LTD.
发明人： Yuya Takeda
IPC分类号： B62D15/02 , B62D6/04 , B62D6/00
CPC分类号： B62D15/025 , B62D6/003 , B62D6/008 , B62D6/04
摘要： A stability control device is provided that is capable of reducing an unpleasant sensation imparted to a driver in a steer-by-wire vehicle. The stability control device includes a steer-by-wire controller that controls a turning amount of the turning part based on a steer-by-wire turning amount that corresponds to a steering amount of the steering unit, a turning amount for suppressing the yaw angle, which is an angle formed by a white line and a traveling direction of a host vehicle, and a turning amount for returning the host vehicle to the center of a lane when the host vehicle has departed from the center of the lane. The controller controls a steering reaction force based on the steering amount without the yaw angle-suppressing turning amount and the lane-center-returning turning amount being reflected in the steering reaction force imparted to the steering unit.
摘要翻译：提供了一种稳定性控制装置，其能够减少在线控车辆中传递给驾驶员的令人不愉快的感觉。稳定性控制装置包括线控转向控制器，其基于与转向单元的转向量对应的线控转向量来控制转向部的转动量，用于抑制转向角的转动量，其是由本车辆的白线和行驶方向形成的角度，以及当本车辆离开车道中心时将本车辆返回到车道中心的转弯量。控制器基于转向量控制转向反作用力，而没有偏转角抑制转动量，并且车道中心返回转动量反映在施加到转向单元的转向反作用力中。

5. 发明授权

US09623901B2 Steering control device 有权
公开(公告)号：US09623901B2
公开(公告)日：2017-04-18
申请号：US14428327
申请日：2013-09-25
申请人： Nissan Motor Co., Ltd.
发明人： Yuya Takeda
IPC分类号： B62D6/00 , G06K9/00 , B62D15/02
CPC分类号： B62D6/008 , B62D15/025 , G06K9/00798
摘要： A steering control device is provided that calculates a white line approach suppression steering reaction force that is based on a distance in which a host vehicle is separated from either a left or a right white line when the host vehicle approaches the left or a right white line. The steering control device applies a steering reaction force to a steering unit that receives steering input from a driver, based on the white line approach suppression steering reaction force, and upon determining that the other among the left and right white lines cannot be detected and a distance between the host vehicle and the left or right white line is decreasing, the white line approach suppression steering reaction force is limited.

6. 发明授权

US09446792B2 Steering control device 有权
标题翻译：转向控制装置
公开(公告)号：US09446792B2
公开(公告)日：2016-09-20
申请号：US14428413
申请日：2013-10-01
申请人： Nissan Motor Co., Ltd.
发明人： Yuya Takeda
IPC分类号： A01B69/00 , B62D6/00 , B62D11/00 , B62D12/00 , B63G8/20 , B63H25/04 , G05D1/00 , G06F7/00 , G06F17/00 , G06F19/00 , B62D15/02 , B62D5/04
CPC分类号： B62D6/008 , B62D5/04 , B62D15/025
摘要： A steering control device includes a steering reaction force control unit that applies a steering reaction force to a steering unit in accordance with a steering reaction force characteristic that is based on steering torque and steering angle of the steering unit in which the steering torque increases as the steering angle increases. A curvature detection unit detects a curvature of a white line. An offset unit calculates an offset amount that increases as the detected curvature increases and that offsets the steering reaction force characteristic such that a neutral point of the steering is moved in a curve direction according to a magnitude of the detected curvature. A curve direction steering torque detection unit programmed to detect a steering torque in a curve direction. An offset suppression unit suppresses a change in the offset amount more as a detected steering torque in the curve direction increases.
摘要翻译：转向控制装置包括转向反作用力控制单元，该转向反作用力控制单元根据转向转矩和转向转矩转向角转向角的转向反作用力特性向转向单元施加转向反作用力，转向角度增加。曲率检测单元检测白线的曲率。偏移单元计算随检测曲率增加而增加的偏移量，并且使转向反作用力特性偏移，使得转向的中性点根据检测到的曲率的大小在曲线方向上移动。曲线方向转向转矩检测单元，被编程为检测曲线方向上的转向转矩。偏移抑制单元随着检测到的弯道方向转矩增加而抑制偏移量的变化。

7. 发明申请

US20150225014A1 STEERING CONTROL DEVICE 有权
标题翻译：转向控制装置
公开(公告)号：US20150225014A1
公开(公告)日：2015-08-13
申请号：US14428327
申请日：2013-09-25
申请人： Nissan Motor Co., Ltd.
发明人： Yuya Takeda
IPC分类号： B62D6/00 , G06K9/00 , B62D15/02
CPC分类号： B62D6/008 , B62D15/025 , G06K9/00798
摘要： A steering control device is provided that calculates a white line approach suppression steering reaction force that is based on a distance in which a host vehicle is separated from either a left or a right white line when the host vehicle approaches the left or a right white line. The steering control device applies a steering reaction force to a steering unit that receives steering input from a driver, based on the white line approach suppression steering reaction force, and upon determining that the other among the left and right white lines cannot be detected and a distance between the host vehicle and the left or right white line is decreasing, the white line approach suppression steering reaction force is limited.
摘要翻译：提供了一种转向控制装置，其计算当主车辆接近左或右白线时基于主车辆与左白线或右白线分离的距离的白线接近抑制转向反作用力。转向控制装置基于白线接近抑制转向反作用力，向接收来自驾驶员的转向输入的转向单元施加转向反作用力，并且在确定不能检测到左白线和右白线中的另一方时，主车与左或右白线之间的距离正在减小，白线逼近抑制转向反作用力受到限制。

8. 发明授权

US09434411B2 Steering control device 有权
标题翻译：转向控制装置
公开(公告)号：US09434411B2
公开(公告)日：2016-09-06
申请号：US14430450
申请日：2013-09-11
申请人： NISSAN MOTOR CO., LTD.
发明人： Yuya Takeda
IPC分类号： B62D6/00 , B62D6/08 , B62D6/10 , B62D5/04 , B62D15/02 , G06K9/00
CPC分类号： B62D6/10 , B62D5/0463 , B62D6/003 , B62D6/008 , B62D15/021 , G06K9/00798
摘要： The turning amount of a turning unit is controlled according to the steering amount of a steering unit mechanically uncoupled from the turning unit. A steering reaction force characteristic such that the larger the self-aligning torque, the larger the steering reaction force is set on coordinates with the self-aligning torque and the steering reaction force as coordinate axes. When a steering reaction force corresponding to the self-aligning torque is applied to the steering unit based on the steering reaction force characteristic, the steering reaction force characteristic is offset on the coordinates in such a direction that the larger the integral value of a yaw angle, the larger the absolute value of the steering reaction force, the yaw angle being an angle formed by a white line and a traveling direction of an own vehicle.
摘要翻译：转向单元的转动量根据与转向单元机械地分离的转向单元的转向量进行控制。转向反作用力特征使得自对准转矩越大，转向反作用力越大，坐标上以自对准转矩和转向反作用力为坐标轴。当基于转向反作用力特性将对应于自对准扭矩的转向反作用力施加到转向单元时，转向反作用力特性在偏航角积分值越大的方向上偏移坐标转向反作用力的绝对值越大，偏航角是由本车辆的白线和行驶方向所形成的角度。

9. 发明授权

US09327765B2 Steering control device 有权
标题翻译：转向控制装置
公开(公告)号：US09327765B2
公开(公告)日：2016-05-03
申请号：US14428337
申请日：2013-10-01
申请人： Nissan Motor Co., Ltd.
发明人： Yuya Takeda
IPC分类号： B62D6/00 , B62D15/02 , B62D6/04 , B62D6/02
CPC分类号： B62D15/025 , B62D6/003 , B62D6/008 , B62D6/02 , B62D6/04
摘要： A steering control device includes a steering reaction force control unit that applies a steering reaction force to a steering unit in accordance with a steering reaction force characteristic that is based on steering torque and steering angle of the steering unit in which the steering torque increases as the steering angle increases. Upon applying the steering reaction force to the steering unit, an offset amount is calculated that is greater as a curvature of the white line increases, and a suppression offset amount is calculated that applies a predetermined limit to a change rate of the offset amount. When the steering torque that is opposite of the curvature is detected upon offsetting the steering reaction force characteristic, the predetermined limit is changed to a greater limit than the predetermined limit to suppress an increase in the offset amount.
摘要翻译：转向控制装置包括转向反作用力控制单元，该转向反作用力控制单元根据转向转矩和转向转矩转向角转向角的转向反作用力特性向转向单元施加转向反作用力，转向角度增加。在向转向单元施加转向反作用力时，计算偏移量，该偏移量随着白线的曲率增加而变大，并且计算对偏移量的变化率施加预定极限的抑制偏移量。当偏移转向反作用力特性时检测到与曲率相反的转向转矩时，将预定极限改变为比预定极限更大的极限，以抑制偏移量的增加。

10. 发明申请

US20150274206A1 STEERING CONTROL DEVICE 有权
标题翻译：转向控制装置
公开(公告)号：US20150274206A1
公开(公告)日：2015-10-01
申请号：US14429014
申请日：2013-09-11
申请人： NISSAN MOTOR CO., LTD.
发明人： Yuya Takeda
IPC分类号： B62D15/02 , B62D6/00 , B62D5/04
CPC分类号： B62D15/025 , B62D5/0463 , B62D6/003 , B62D6/008 , B62D15/021 , G06K9/00798
摘要： The turning amount of a turning unit is controlled according to the steering amount of a steering unit mechanically uncoupled from the turning unit. A steering reaction force characteristic in which the larger the self-aligning torque, the larger the steering reaction force is set on coordinates with the self-aligning torque and the steering reaction force as coordinate axes. When the steering reaction force corresponding to the self-aligning torque is applied to the steering unit based on the steering reaction force characteristic, the steering reaction force characteristic is offset on the coordinates in such a direction that the closer the lateral position of an own vehicle to a white line, the larger the absolute value of the steering reaction force.
摘要翻译：转向单元的转动量根据与转向单元机械地分离的转向单元的转向量进行控制。一种转向反作用力特征，其中自动调心扭矩越大，转向反作用力越大，坐标上以自对准转矩和转向反作用力为坐标轴。当基于转向反作用力特性将对应于自对准扭矩的转向反作用力施加到转向单元时，转向反作用力特性在坐标上偏移，使得本车辆的横向位置越靠近到白线，转向反作用力的绝对值越大。

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