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21. 发明公开

EP2844535A1 STEERING DEVICE, STEERING CONTROL DEVICE, AND STEERING CONTROL METHOD 失效转让
标题翻译：转向装置，转向控制装置及转向控制方法
公开(公告)号：EP2844535A1
公开(公告)日：2015-03-11
申请号：EP13759811.6
申请日：2013-07-16
申请人： Toyota Jidosha Kabushiki Kaisha , Denso Corporation
发明人： KUDO, Yoshio , SUZUKI, Yoshiaki , KATAOKA, Motoaki , WATANABE, Daiji , AKATSUKA, Hisaya
IPC分类号： B62D5/04 , B62D6/00 , B62D101/00 , B62D103/00 , B62D119/00 , B62D121/00
CPC分类号： B62D5/0472 , B62D6/008
摘要： A steering device (1) includes: a steering member (4) that is provided in a vehicle (2) and configured to be rotationally operated; an actuator (8) that generates a torque assisting a steering operation on the steering member (4);ya detection device (9) that detects a torque applied to a steering shaft portion (5) that rotates together with the steering member (4); and a steering control device (11) that performs vibration suppression control to suppress vibrations transmitted to the steering member (4) by adjusting a torque generated by the actuator (8), on a basis of a detected torque that is a torque detected by the detection device (9). The steering control device (11) controls the actuator (8) such that a torque of a frequency band in a first predetermined range, which corresponds to the detected torque is not suppressed.

22. 发明公开

EP3339135A1 VEHICLE TRAVEL CONTROL DEVICE AND AUTONOMOUS DRIVING CONTROL METHOD 审中-公开
公开(公告)号：EP3339135A1
公开(公告)日：2018-06-27
申请号：EP17199704.2
申请日：2017-11-02
申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA
发明人： INOUE, Go , TANIMOTO, Mitsutaka , YOKOTA, Takahiro , KUDO, Yoshio , AOKI, Yutaka
IPC分类号： B62D5/00 , B62D5/04 , B62D15/02 , B62D1/28
CPC分类号： G05D1/021 , B62D1/28 , B62D5/008 , B62D5/0457 , B62D5/0472 , B62D15/025
摘要： A vehicle travel control device (10) includes: an EPS device (50) turning a wheel (5) of a vehicle (1); a VGRS device (30) capable of changing a ratio of a steering wheel angle (ϕs) and a steering angle of the wheel (5); and a control device (100) performing autonomous driving control that controls autonomous driving of the vehicle (1). The autonomous driving control includes: target steering angle calculation processing that calculates a target steering angle (δa) of the wheel (5); turning control that actuates the EPS device (50) to turn the wheel (5) such that the steering angle of the wheel (5) becomes the target steering angle (δa); and steering wheel angle control that actuates, based on the target steering angle (δa), the VGRS device (30) in a direction to suppress a change in the steering wheel angle (ϕs) caused by the turning control.

23. 发明公开

EP3339138A1 VEHICLE TRAVEL CONTROL DEVICE AND AUTONOMOUS DRIVING CONTROL METHOD 有权
公开(公告)号：EP3339138A1
公开(公告)日：2018-06-27
申请号：EP17198809.0
申请日：2017-10-27
申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA
发明人： INOUE, Go , TANIMOTO, Mitsutaka , YOKOTA, Takahiro , KUDO, Yoshio , AOKI, Yutaka
IPC分类号： B62D15/02
CPC分类号： B62D15/025 , B62D5/0457 , B62D6/00 , G05D1/021
摘要： A vehicle travel control device (10) includes: an EPS device (50) turning a wheel (5) of a vehicle (1); and a control device (100) performing autonomous driving control that controls autonomous driving of the vehicle (1). The autonomous driving control includes: calculating a target steering angle (δa) of the wheel (5); and actuating the EPS device (50) to turn the wheel (5) such that a steering angle of the wheel (5) becomes the target steering angle (δa). The calculating the target steering angle (δa) includes: calculating an autonomous driving steering angle (δb) and a target state quantity (ST) required for automatic steering in the autonomous driving; calculating a counter steering angle (δc) required for vehicle stabilization control, based on the target state quantity (ST) without using a steering wheel angle (cps); and calculating a sum of the autonomous driving steering angle (δb) and the counter steering angle (δc) as the target steering angle (δa).

24. 发明授权

EP2844535B1 STEERING DEVICE, STEERING CONTROL DEVICE, AND STEERING CONTROL METHOD 失效转让
标题翻译：转向装置，转向控制装置及转向控制方法
公开(公告)号：EP2844535B1
公开(公告)日：2016-03-30
申请号：EP13759811.6
申请日：2013-07-16
申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA , DENSO CORPORATION
发明人： KUDO, Yoshio , SUZUKI, Yoshiaki , KATAOKA, Motoaki , WATANABE, Daiji , AKATSUKA, Hisaya
IPC分类号： B62D5/04 , B62D6/00 , B62D101/00 , B62D103/00 , B62D119/00 , B62D121/00
CPC分类号： B62D5/0472 , B62D6/008

25. 发明授权

EP3147183B1 DRIVING SUPPORT DEVICE FOR VEHICLE 有权转让
标题翻译：驾驶汽车的支持装置
公开(公告)号：EP3147183B1
公开(公告)日：2018-04-11
申请号：EP16189039.7
申请日：2016-09-15
申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA
发明人： KUNIHIRO, Yoji , KUDO, Yoshio , KOJO, Takahiro , SUZUKI, Yoshiaki , UEYAMA, Masao , GOTO, Takeshi , KIMURA, Yukihide
IPC分类号： B62D15/02 , B62D5/04 , B62D6/00
CPC分类号： B62D6/002 , B62D5/0463 , B62D15/025
摘要： Provided is a driving support device, which is configured to: calculate a target steering angle (¸t) for allowing a vehicle to travel along a target course; set, as a reference steering angle (¸s), a steering angle (¸) when a difference between the steering angle and the target steering angle is small (S40); calculate an indication value (Idsi) indicating intention of a driver's steering operation based on a value being correlated to at least one of a first product of a corrected steering angle (¸-¸s) and a steering torque (T), a second product of a derivative (d¸) of the corrected steering angle and the steering torque, and a third product of the corrected steering angle and a derivative (dT) of the steering torque (S70); and correct the target steering angle based on the indication value so that a target driving support torque (Tdt) is corrected in accordance with the intention of the driver's steering operation (S100 and S120).

26. 发明公开

EP3147183A1 DRIVING SUPPORT DEVICE FOR VEHICLE 有权转让
标题翻译：爱德华·弗朗西斯
公开(公告)号：EP3147183A1
公开(公告)日：2017-03-29
申请号：EP16189039.7
申请日：2016-09-15
申请人： Toyota Jidosha Kabushiki Kaisha
发明人： KUNIHIRO, Yoji , KUDO, Yoshio , KOJO, Takahiro , SUZUKI, Yoshiaki , UEYAMA, Masao , GOTO, Takeshi , KIMURA, Yukihide
IPC分类号： B62D15/02
CPC分类号： B62D6/002 , B62D5/0463 , B62D15/025
摘要： Provided is a driving support device, which is configured to: calculate a target steering angle (θt) for allowing a vehicle to travel along a target course; set, as a reference steering angle (θs), a steering angle (θ) when a difference between the steering angle and the target steering angle is small (S40); calculate an indication value (Idsi) indicating intention of a driver's steering operation based on a value being correlated to at least one of a first product of a corrected steering angle (θ-θs) and a steering torque (T), a second product of a derivative (dθ) of the corrected steering angle and the steering torque, and a third product of the corrected steering angle and a derivative (dT) of the steering torque (S70); and correct the target steering angle based on the indication value so that a target driving support torque (Tdt) is corrected in accordance with the intention of the driver's steering operation (S100 and S120).
摘要翻译：提供一种驱动支撑装置，其被构造成：计算用于允许车辆沿着目标路线行进的目标转向角（¸t）; 当转向角和目标转向角之间的差小时，设定作为参考转向角（¸s）的转向角（¸）（S40）; 基于与修正后的转向角（¸-¸s）和转向转矩（T）的第一乘积中的至少一个相关的值来计算指示驾驶员转向操作的意图的指示值（Idsi），第二乘积修正转向角和转向转矩的导数（d¸）以及转向转矩的修正转向角和导数（dT）的第三乘积（S70）; 并且根据指示值来校正目标转向角，使得根据驾驶员转向操作的意图来校正目标驾驶支持力矩（Tdt）（S100和S120）。

27. 发明公开

EP4331949A1 TURNING CONTROL DEVICE 审中-实审
公开(公告)号：EP4331949A1
公开(公告)日：2024-03-06
申请号：EP23193233.6
申请日：2023-08-24
申请人： JTEKT Corporation
发明人： MIYAKE, Junya , NAMIKAWA, Isao , YOSHIDA, Shunsuke , KUDO, Yoshio , TOYAMA, Hidetsugu
IPC分类号： B62D6/00
摘要： A turning control device includes a first processor (63E, 63F, 63G), a second processor (63H), a third processor (63J, 63K, 63L), and a fourth processor (63N). The first processor calculates a torque command value based on a difference between a target pinion angle and a pinion angle. The second processor calculates a compensation value compensating resistance of a turning mechanism based on a difference between a target pinion angular velocity and a pinion angular velocity. The third processor limits a variation range of the torque command value based on a limit value of the torque command value and limits a variation range of the compensation value based on a limit value of the compensation value. The fourth processor calculates a turning torque command value by subtracting the compensation value from the torque command value. The third processor changes the limit values based on a traveling state of a vehicle.

28. 发明公开

EP4420957A1 STEER-BY-WIRE STEERING APPARATUS 审中-公开
公开(公告)号：EP4420957A1
公开(公告)日：2024-08-28
申请号：EP24159328.4
申请日：2024-02-23
申请人： JTEKT CORPORATION
发明人： KAMIMAE, Hajime , KUDO, Yoshio , IIDA, Tomoyuki , GOTO, Yuko , ISHINO, Takahito , ISHIHARA, Atsushi , MIYAKE, Junya
IPC分类号： B62D6/00 , B62D5/04
CPC分类号： B62D5/0469 , B62D5/001 , B62D6/008
摘要： A reaction force actuator (26) applies, during normal operation, a steering reaction force (Tn), which rapidly increases upon approaching an upper limit of a virtual steering range (θsn), to a steering wheel (12). During rapid steering in which a turning angle velocity (ωt) is greater than or equal to a predetermined value (ωth) and a turning follow delay (Δθt (= θt* - θt)) is greater than or equal to a predetermined value, the reaction force actuator (26) applies a steering reaction force (Te) to the steering wheel based on an upper limit (θse) corresponding to a narrower virtual steering range.

29. 发明公开

EP4140856A1 STEER-BY WIRE STEERING SYSTEM 审中-实审
公开(公告)号：EP4140856A1
公开(公告)日：2023-03-01
申请号：EP22191013.6
申请日：2022-08-18
申请人： JTEKT CORPORATION
发明人： YOSHIDA, Kenji , ANRAKU, Koji , AKATSUKA, Kosuke , KUDO, Yoshio , ISHINO, Takahito
IPC分类号： B62D5/00 , B62D15/02
摘要： A steer-by-wire steering system for a vehicle, comprising: an operation member (10) operable by a vehicle driver; an urging device (12) configured to generate an urging force to urge the operation member (10); a steering device (18) configured to steer a wheel (16); and a controller (22) configured to control the urging device (12) and the steering device (18). In a normal operation, the controller (22) enables the wheel (16) to be steered in accordance with an operation of the operation member (10) and causes the urging force to function as an operation reaction force against the operation of the operation member (10). In an automatic steering operation in which the wheel (16) is steered without depending on the operation of the operation member (10), the controller (22) enables the operation member (10) to be moved in accordance with steering of the wheel (16) by the urging force and causes at least part of the urging force generated in the normal operation not to be generated.

30. 发明公开

EP3974290A1 STEERING CONTROL DEVICE 有权
公开(公告)号：EP3974290A1
公开(公告)日：2022-03-30
申请号：EP21197998.4
申请日：2021-09-21
申请人： JTEKT CORPORATION
发明人： NAMIKAWA, Isao , MATSUDA, Satoshi , IIDA, Tomoyuki , KUDO, Yoshio , YAMASHITA, Masaharu , SHIBATA, Kenji
IPC分类号： B62D6/00
摘要： A steering control device includes a control unit configured to control at least an operation of a steering-side motor (13). The control unit is configured to calculate a target reaction torque; calculate a difference axial force that is used to limit steering for turning the turning wheels in a predetermined direction, the difference axial force being reflected in the target reaction torque; and set a reference angle to one of a steering angle and a turning angle, set a converted angle to an angle obtained by converting another of the steering angle and the turning angle according to a steering angle ratio, and calculate the difference axial force based on a difference between the reference angle and the converted angle.

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