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1. 发明授权

US08224528B2 Vehicle steering apparatus 有权
标题翻译：车辆转向装置
公开(公告)号：US08224528B2
公开(公告)日：2012-07-17
申请号：US12060573
申请日：2008-04-01
申请人： Ryouhei Hayama , Tomoyasu Kada , Shingo Maeda , Shuuji Kimura
发明人： Ryouhei Hayama , Tomoyasu Kada , Shingo Maeda , Shuuji Kimura
IPC分类号： A01B69/00
CPC分类号： B62D5/001 , B62D6/002 , B62D6/003
摘要： A steered shaft of a steered mechanism is rigidly fixed to a vehicle body. Steering-stiffness is reduced by a lowpass filter for filtering a steered angle detected by a steered angle sensor. A deviation between a target steered angle and the filtered steered angle detected by the steered angle sensor is input to a PID control unit. A gain setting unit sets each of gains for PID control at a low value to thereby reduce steering-stiffness. The PID control unit outputs a target current. A drive circuit performs, e.g., PID control of the steering actuator.
摘要翻译：转向机构的转向轴刚性地固定在车体上。通过用于过滤由转向角度传感器检测到的转向角度的低通滤波器来减少转向刚度。通过转向角传感器检测到的目标转向角与滤波转向角之间的偏差被输入到PID控制部。增益设定单元将PID控制的增益设定为低值，从而降低转向刚度。 PID控制单元输出目标电流。驱动电路执行例如转向致动器的PID控制。

2. 发明申请

US20080243341A1 VEHICLE STEERING APPARATUS 有权
标题翻译：车辆转向装置
公开(公告)号：US20080243341A1
公开(公告)日：2008-10-02
申请号：US12060573
申请日：2008-04-01
申请人： Ryouhei HAYAMA , Tomoyasu Kada , Shingo Maeda , Shuuji Kimura
发明人： Ryouhei HAYAMA , Tomoyasu Kada , Shingo Maeda , Shuuji Kimura
IPC分类号： G06F19/00
CPC分类号： B62D5/001 , B62D6/002 , B62D6/003
摘要： A steered shaft of a steered mechanism is rigidly fixed to a vehicle body. Steering-stiffness is reduced by a lowpass filter for filtering a steered angle detected by a steered angle sensor. A deviation between a target steered angle and the filtered steered angle detected by the steered angle sensor is input to a PID control unit. A gain setting unit sets each of gains for PID control at a low value to thereby reduce steering-stiffness. The PID control unit outputs a target current. A drive circuit performs, e.g., PID control of the steering actuator.
摘要翻译：转向机构的转向轴刚性地固定在车体上。通过用于过滤由转向角度传感器检测到的转向角度的低通滤波器来减少转向刚度。通过转向角传感器检测到的目标转向角与滤波转向角之间的偏差被输入到PID控制部。增益设定单元将PID控制的增益设定为低值，从而降低转向刚度。 PID控制单元输出目标电流。驱动电路执行例如转向致动器的PID控制。

3. 发明申请

US20070265752A1 Motor vehicle steering system 有权
标题翻译：机动车转向系统
公开(公告)号：US20070265752A1
公开(公告)日：2007-11-15
申请号：US11797657
申请日：2007-05-04
申请人： Ryouhei Hayama , Shiro Nakano , Tomoyasu Kada
发明人： Ryouhei Hayama , Shiro Nakano , Tomoyasu Kada
IPC分类号： B62D6/00
CPC分类号： B62D6/003 , B62D6/007 , B62D6/008
摘要： A motor vehicle steering system steers vehicle wheels in response to the operation of an operation member for steering a vehicle. The system includes a rutted road judging unit which judges whether the vehicle is driving on a rutted road or not, and a steering enhancement control unit which enhances steering of vehicle wheels in response to operation of the operation member when the rutted road judging unit judges that the vehicle is driving on a rutted road than when the rutted road judging unit judges that the vehicle is not driving on a rutted road.
摘要翻译：响应于用于转向车辆的操作构件的操作，机动车辆转向系统转向车轮。该系统包括：车辙道路判断单元，其判断车辆是否在车辙道路上行驶;以及转向增强控制单元，其在车辙道路判断单元判断为该车辙道路判断单元时响应于操作构件的操作而增强车轮的转向车辆在车辙路上驾驶时，比起车辙道路判断单元判断车辆未在车辙路上行驶时。

4. 发明授权

US06382345B2 Electric power steering system 失效
标题翻译：电动助力转向系统
公开(公告)号：US06382345B2
公开(公告)日：2002-05-07
申请号：US09778713
申请日：2001-02-08
申请人： Tomoyasu Kada , Shiro Nakano , Ryouhei Hayama
发明人： Tomoyasu Kada , Shiro Nakano , Ryouhei Hayama
IPC分类号： B62D504
CPC分类号： B62D6/007 , B62D5/0463
摘要： An electric power steering system, which controls an electric motor on the basis of a target electric current determined in accordance with a steering torque and applies a driving force from the electric motor to a steering mechanism. The system includes: a steering torque sensor; a target current setting circuit for determining the target electric current in accordance with the steering torque on the basis of an assist characteristic indicative of a relationship between the steering torque and the target electric current; a motor controlling circuit for controlling the electric motor on the basis of the target electric current; a traveling state judging circuit for judging whether or not a motor vehicle is in a slalom traveling state; and an assist characteristic modifying circuit for offsetting the assist characteristic from an initial characteristic level when the motor vehicle is in the slalom traveling state.
摘要翻译：一种电动助力转向系统，其基于根据转向转矩确定的目标电流来控制电动机，并将来自电动机的驱动力施加到转向机构。该系统包括：转向扭矩传感器; 目标电流设定电路，用于根据表示转向转矩与目标电流之间的关系的辅助特性，根据转向转矩来确定目标电流; 基于目标电流控制电动机的电动机控制电路; 行驶状态判断电路，用于判断机动车辆是否处于障碍物行驶状态; 以及辅助特性修正电路，用于当所述机动车辆处于所述回转行进状态时，将辅助特性与初始特性水平相抵消。

5. 发明授权

US06364051B1 Electric power steering system 有权
标题翻译：电动助力转向系统
公开(公告)号：US06364051B1
公开(公告)日：2002-04-02
申请号：US09679633
申请日：2000-10-05
申请人： Tomoyasu Kada , Shiro Nakano , Katsutoshi Nishizaki , Takanobu Takamatsu , Masaya Segawa , Ryouhei Hayama
发明人： Tomoyasu Kada , Shiro Nakano , Katsutoshi Nishizaki , Takanobu Takamatsu , Masaya Segawa , Ryouhei Hayama
IPC分类号： B60D504
CPC分类号： B62D5/0463
摘要： An electric power steering system which assists a steering operation by controlling an electric motor on the basis of a target electric current determined in accordance with a steering torque applied to an operation member and applying a driving force to a steering mechanism from the electric motor. The system includes steering torque detecting section; target electric current determining circuit for determining a target electric current in accordance with the steering torque on the basis of an assist characteristic; and motor controlling circuit for controlling the electric motor on the basis of the target electric current. The assist characteristic is offset from an initial characteristic when a motor vehicle incorporating the system is in a predetermined turning state.
摘要翻译：一种电动助力转向系统，其通过基于根据施加到操作构件的转向扭矩确定的目标电流来控制电动机来辅助转向操作，并且从电动机向转向机构施加驱动力。该系统包括转向扭矩检测部分; 目标电流确定电路，用于根据辅助特性根据转向转矩确定目标电流; 以及基于目标电流来控制电动机的电动机控制电路。当包含系统的机动车辆处于预定的转动状态时，辅助特性偏离初始特性。

6. 发明授权

US08660749B2 Motor vehicle steering system 有权
标题翻译：机动车转向系统
公开(公告)号：US08660749B2
公开(公告)日：2014-02-25
申请号：US11797657
申请日：2007-05-04
申请人： Ryouhei Hayama , Shiro Nakano , Tomoyasu Kada
发明人： Ryouhei Hayama , Shiro Nakano , Tomoyasu Kada
IPC分类号： B62D6/00
CPC分类号： B62D6/003 , B62D6/007 , B62D6/008
摘要： A motor vehicle steering system steers vehicle wheels in response to the operation of an operation member for steering a vehicle. The system includes a rutted road judging unit which judges whether the vehicle is driving on a rutted road or not, and a steering enhancement control unit which enhances steering of vehicle wheels in response to operation of the operation member when the rutted road judging unit judges that the vehicle is driving on a rutted road than when the rutted road judging unit judges that the vehicle is not driving on a rutted road.
摘要翻译：响应于用于转向车辆的操作构件的操作，机动车辆转向系统转向车轮。该系统包括：车辙道路判断单元，其判断车辆是否在车辙道路上行驶;以及转向增强控制单元，其在车辙道路判断单元判断为该车辙道路判断单元时响应于操作构件的操作而增强车轮的转向车辆在车辙路上驾驶时，比起车辙道路判断单元判断车辆未在车辙路上行驶时。

7. 发明申请

US20120253603A1 VEHICLE STEERING APPARATUS 有权
标题翻译：车辆转向装置
公开(公告)号：US20120253603A1
公开(公告)日：2012-10-04
申请号：US13494391
申请日：2012-06-12
申请人： Ryouhei HAYAMA , Tomoyasu Kada , Shingo Maeda , Shuuji Kimura
发明人： Ryouhei HAYAMA , Tomoyasu Kada , Shingo Maeda , Shuuji Kimura
IPC分类号： B62D6/08 , B62D6/02
CPC分类号： B62D5/001 , B62D6/002 , B62D6/003
摘要： A vehicle steering apparatus in which a mechanical coupling between a steering member and steered wheels is uncoupled, includes a steering actuator for driving a steered mechanism and a control unit for drive-controlling the steering actuator. The control unit reduces steering-stiffness using a PID control portion for drive-controlling the steering actuator according to a deviation between a target steered angle and a steered-angle detected by the steered angle sensor. A gain setting portion sets gains of the PID control portion to be relatively low when a predetermined condition is satisfied.
摘要翻译：一种车辆转向装置，其中转向构件和转向轮之间的机械联接不联结，包括用于驱动转向机构的转向致动器和用于驱动控制转向致动器的控制单元。控制单元使用PID控制部降低转向刚度，用于根据目标转向角与由转向角传感器检测到的转向角之间的偏差来驱动控制转向致动器。当满足预定条件时，增益设置部分将PID控制部分的增益设置为相对较低。

8. 发明授权

US08744687B2 Vehicle steering apparatus 有权
标题翻译：车辆转向装置
公开(公告)号：US08744687B2
公开(公告)日：2014-06-03
申请号：US13494391
申请日：2012-06-12
申请人： Ryouhei Hayama , Tomoyasu Kada , Shingo Maeda , Shuuji Kimura
发明人： Ryouhei Hayama , Tomoyasu Kada , Shingo Maeda , Shuuji Kimura
IPC分类号： B62D6/08
CPC分类号： B62D5/001 , B62D6/002 , B62D6/003
摘要： A vehicle steering apparatus in which a mechanical coupling between a steering member and steered wheels is uncoupled, includes a steering actuator for driving a steered mechanism and a control unit for drive-controlling the steering actuator. The control unit reduces steering-stiffness using a PID control portion for drive-controlling the steering actuator according to a deviation between a target steered angle and a steered-angle detected by the steered angle sensor. A gain setting portion sets gains of the PID control portion to be relatively low when a predetermined condition is satisfied.
摘要翻译：一种车辆转向装置，其中转向构件和转向轮之间的机械联接不联结，包括用于驱动转向机构的转向致动器和用于驱动控制转向致动器的控制单元。控制单元使用PID控制部降低转向刚度，用于根据目标转向角与由转向角传感器检测到的转向角之间的偏差来驱动控制转向致动器。当满足预定条件时，增益设置部分将PID控制部分的增益设置为相对较低。

9. 发明授权

US06896090B2 Vehicle steering device 有权
标题翻译：车辆转向装置
公开(公告)号：US06896090B2
公开(公告)日：2005-05-24
申请号：US10463410
申请日：2003-06-18
申请人： Naotake Kanda , Tomoyasu Kada , Kenji Higashi , Ryouhei Hayama , Takeo Iino , Shingo Maeda , Masayuki Ueno
发明人： Naotake Kanda , Tomoyasu Kada , Kenji Higashi , Ryouhei Hayama , Takeo Iino , Shingo Maeda , Masayuki Ueno
IPC分类号： B62D5/00 , B62D5/04 , B62D6/00 , B62D101/00 , B62D113/00 , B62D119/00
CPC分类号： B62D5/0484 , B62D5/008 , B62D6/008
摘要： In a normal state, a reaction force actuator (20) applies an operation reaction force to an steering member (2) through a planetary gear mechanism (6). When failure occurs in a steering actuator (12), the reaction force actuator (20) is turned off, and a plunger (13) locks the rotation of one element (18) which is connected to the reaction force actuator (20), in the planetary gear mechanism (6). In turn, a manual steering mode is set up in which a rotation of the steering member (2) is transmitted to a pinion gear (14) at a transmission ratio of the carrier (16) holding planetary gears (17) and a sun gear (15).
摘要翻译：在正常状态下，反作用力致动器（20）通过行星齿轮机构（6）向操舵构件（2）施加操作反作用力。当转向致动器（12）中发生故障时，反作用力致动器（20）被关闭，并且柱塞（13）将连接到反作用力致动器（20）的一个元件（18）的旋转锁定在行星齿轮机构（6）。依次，设置手动转向模式，其中转向构件（2）的旋转以保持行星齿轮（17）和太阳齿轮（17）的行星架（16）的传动比传递到小齿轮（14）（15）。

10. 发明授权

US06671597B2 Electric power steering controller 失效
标题翻译：电动助力转向控制器
公开(公告)号：US06671597B2
公开(公告)日：2003-12-30
申请号：US09987676
申请日：2001-11-15
申请人： Tomoyasu Kada
发明人： Tomoyasu Kada
IPC分类号： B62D504
CPC分类号： B62D5/0463
摘要： A controller for an electric power steering system which generates a steering assist force by an electric motor driven on the basis of a steering torque applied to an operation member. The controller calculates an assist target electric current value by adding a first inertia compensation value, generated in accordance with a first steering torque differential value corresponding to a time-based differential value of the steering torque, to a basic assist electric current value determined in accordance with the steering torque, and preferably by further adding thereto a second inertia compensation value. This second inertia compensation value may be generated in accordance with a second steering torque differential value determined as a time-based differential value of a steering torque component obtained by removing a high frequency component from the steering torque.
摘要翻译：一种用于电动助力转向系统的控制器，其通过基于施加到操作构件的转向转矩而驱动的电动机产生转向辅助力。控制器通过将根据与转向转矩的基于时间的差分值相对应的第一转向转矩差分值生成的第一惯性补偿值与根据转向转矩确定的基本辅助电流值相加来计算辅助目标电流值具有转向扭矩，并且优选地通过进一步添加第二惯性补偿值。该第二惯性补偿值可以根据通过从转向转矩去除高频分量而获得的转向转矩分量的基于时间的差分值而确定的第二转向转矩差分值来生成。

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