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41. 发明公开

EP3971061A1 STEERING DEVICE 审中-公开
公开(公告)号：EP3971061A1
公开(公告)日：2022-03-23
申请号：EP21196779.9
申请日：2021-09-15
申请人： JTEKT CORPORATION , TOYOTA JIDOSHA KABUSHIKI KAISHA
发明人： MIYAKE, Junya , KODERA, Takashi , TAKASHIMA, Toru , TOYAMA, Hidetsugu
IPC分类号： B62D6/00 , B62D6/02
摘要： A steering device (10) includes: a turning shaft (31) that turns a turning wheel (12) of a vehicle, with dynamic power transmission being separated between the turning shaft (31) and a steering wheel (11); a turning motor (32); and a control device (36). The control device (36) executes a particular process for increasing a command value to a value larger than an original command value that depends on a steering state, in a particular situation where an axial force exceeding a design-based expectation is easily generated in the turning shaft (31).

42. 发明公开

EP3925862A1 STEERING SYSTEM 有权转让
公开(公告)号：EP3925862A1
公开(公告)日：2021-12-22
申请号：EP21179416.9
申请日：2021-06-15
申请人： JTEKT CORPORATION
发明人： KAKIMOTO, Yusuke , KODERA, Takashi , SHIBATA, Kenji , SATO, Takafumi
IPC分类号： B62D6/00
摘要： A steering system (10) includes a steering operation shaft (31) in which power transmission to and from a steering wheel (11) is disabled and that steers a steered wheel (12) of a vehicle, a steering operation motor (32) that generates a steering operation force that is a torque applied to the steering operation shaft (31) so as to steer the steered wheel (12), and a control device that controls the steering operation motor (32). When a rotation position of the steering wheel (11) is different from a rotation position corresponding to a steered position of the steered wheel (12), the control device executes a process for correcting the steered position of the steered wheel (12) to a position corresponding to the rotation position of the steering wheel (11) through the steering operation motor (32).

43. 发明公开

EP3895962A1 STEERING CONTROL SYSTEM 有权转让
公开(公告)号：EP3895962A1
公开(公告)日：2021-10-20
申请号：EP21162864.9
申请日：2021-03-16
申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA , JTEKT CORPORATION
发明人： MORINO, Tetsuya , KUDO, Yoshio , NAMIKAWA, Isao , KODERA, Takashi
IPC分类号： B62D6/00 , B62D15/02
摘要： The steering control system of a steer-by-wire vehicle includes a turning angle calculation unit (110) for calculating a target turning angle based on a steering angle of a steering wheel (10), and a reaction torque calculation unit (130) for calculating a target reaction torque based on a state of the vehicle. When an alert request is issued, the reaction torque calculation unit (130) calculates a basic reaction torque based on the steering angle, calculates an alert reaction torque for notifying a vehicle state, and calculates the target reaction torque obtained by summing the basic reaction torque and the alert reaction torque. In a process of calculating the target turning angle from the steering angle, the turning angle calculation unit (110) calculates the target turning angle by excluding a steering angle or a turning angle corresponding to the alert reaction torque.

44. 发明公开

EP3878716A1 STEERING CONTROLLER 有权转让
公开(公告)号：EP3878716A1
公开(公告)日：2021-09-15
申请号：EP21161702.2
申请日：2021-03-10
申请人： JTEKT CORPORATION
发明人： KODERA, Takashi
IPC分类号： B62D6/00
摘要： A steering controller (2) includes a torque command value calculator (62) configured to calculate a torque command value used as a target value of the motor torque. The torque command value calculator (62) has a hysteresis component calculator (92) configured to calculate a hysteresis component added such that the command value component has hysteresis characteristics and changes accordingly with respect to change of a state quantity that changes in accordance with operation of the steering device (1). The hysteresis component calculator (92) is configured to calculate the hysteresis component by adding the hysteresis differential component to the hysteresis basic component.

45. 发明授权

EP3517408B1 STEERING CONTROL DEVICE 有权
公开(公告)号：EP3517408B1
公开(公告)日：2020-04-08
申请号：EP19154217.4
申请日：2019-01-29
申请人： JTEKT CORPORATION
发明人： KODERA, Takashi
IPC分类号： B62D6/00 , B62D15/02

46. 发明公开

EP3517408A1 STEERING CONTROL DEVICE 有权
公开(公告)号：EP3517408A1
公开(公告)日：2019-07-31
申请号：EP19154217.4
申请日：2019-01-29
申请人： JTEKT CORPORATION
发明人： KODERA, Takashi
IPC分类号： B62D6/00 , B62D15/02
摘要： Provided is a steering control device capable of appropriately responding to intervention in steering by a host control device. A control device controls a reaction force motor that generates a steering reaction force to be applied to a steering mechanism of a vehicle including a steered shaft, based on a steering reaction force command value calculated according to a steering state. An axial force distribution calculation circuit (95) of the control device calculates a mixed axial force (F5) by summing values obtained by multiplying an ideal axial force (F1) and estimated axial forces (F2 to F4) by individually set distribution rates (DR 1 to DR 4 ). The axial force distribution calculation circuit (95) calculates a final axial force (F sp ) to be reflected in the steering reaction force command value, by summing values obtained by multiplying the ideal axial force (F1) and the mixed axial force (F5) by individually set distribution rates (DR a and DR m ). The axial force distribution calculation circuit (95) sets the distribution rates (DR a and DR m ) of the ideal axial force (F1) and the mixed axial force (F5), based on a distribution command (S r ) generated by the host control device when intervening in steering control.

47. 发明公开

EP3461721A2 VEHICLE CONTROL APPARATUS 有权转让
公开(公告)号：EP3461721A2
公开(公告)日：2019-04-03
申请号：EP18196799.3
申请日：2018-09-26
申请人： JTEKT Corporation
发明人： KODERA, Takashi , KITA, Masayuki
IPC分类号： B62D6/00
摘要： Provided is a vehicle control apparatus capable of attaining a higher operability. A control apparatus calculates an axial force deviation (ΔF), which is a difference between an ideal axial force and an estimated axial force. The ideal axial force is based on a target pinion angle of a pinion shaft configured to rotate in association with a turning operation of steered wheels. The estimated axial force is based on a state variable (such as a current value of a steering operation motor) that reflects vehicle behavior or a road condition. The control apparatus changes a command value for a reaction motor in response to the axial force deviation (ΔF). For example, the control apparatus includes a steering angle ratio change control circuit (62) configured to calculate a target pinion angle (θ p *) serving as a basis for calculation of the command value. The steering angle ratio change control circuit (62) calculates a speed increasing ratio (v) from a steering angle ratio (γ) set based on a vehicle speed (V) and a base gear ratio (γ 0 ) of a steering mechanism, and calculates a correction angle (θ c ) for a target steering angle (θ*) by multiplying the speed increasing ratio (v) and the target steering angle (θ*) together. The steering angle ratio change control circuit (62) changes the speed increasing ratio (v) in response to the axial force deviation (ΔF).

48. 发明公开

EP3461720A1 VEHICLE CONTROL APPARATUS 有权
公开(公告)号：EP3461720A1
公开(公告)日：2019-04-03
申请号：EP18196798.5
申请日：2018-09-26
申请人： JTEKT CORPORATION
发明人： KODERA, Takashi
IPC分类号： B62D6/00
摘要： Provided is a vehicle control apparatus capable of informing a driver of a road condition more appropriately as a steering reaction force. A control apparatus calculates an axial force deviation (ΔF), which is a difference between an ideal axial force and an estimated axial force. The ideal axial force is based on a target pinion angle of a pinion shaft configured to rotate in association with a turning operation of steered wheels. The estimated axial force is based on a state variable (such as a current value of a steering operation motor) that reflects vehicle behavior or a road condition. The control apparatus changes a command value for a reaction motor in response to the axial force deviation (ΔF). For example, the control apparatus includes a basic control circuit (81) configured to calculate a basic control amount (I 1 *), which is a fundamental component of the command value. The basic control circuit (81) changes the basic control amount (I 1 *) in response to the axial force deviation (ΔF). The axial force deviation reflects the road condition, and therefore the command value based on the basic control amount (I 1 *) also reflects the road condition. Thus, the reaction motor generates a driving force that reflects the road condition more appropriately.

49. 发明授权

EP3138759B1 STEERING CONTROL DEVICE 有权
公开(公告)号：EP3138759B1
公开(公告)日：2019-01-09
申请号：EP16180221.0
申请日：2016-07-19
申请人： JTEKT CORPORATION
发明人： KODERA, Takashi
IPC分类号： B62D5/04 , B62D6/00 , B62D5/00

50. 发明公开

EP3299256A1 STEERING CONTROLLER 失效
标题翻译：转向控制器
公开(公告)号：EP3299256A1
公开(公告)日：2018-03-28
申请号：EP17191127.4
申请日：2017-09-14
申请人： JTEKT CORPORATION
发明人： KODERA, Takashi
IPC分类号： B62D5/04 , B62D5/00
CPC分类号： B62D5/0478 , B62D5/001 , B62D5/006 , B62D5/0409 , B62D5/0421 , B62D5/043 , B62D5/0442 , B62D5/0469 , B62D6/008 , B62D15/021
摘要： Provided is a steering controller configured to reduce, as much as possible, the occurrence of switching of a switching device from an interruption state to a transmission state when executing a process for suppressing a steering wheel from being operated such that a steering angle exceeds an upper limit value. In a state where power transmission from the steering wheel to steered wheels is interrupted, a maximum value selection processing circuit (M36) outputs a maximum value (θe), out of a steered angle (θp) and a steering angle (θh), to a limiting reaction force setting processing circuit (M10b) When the absolute value of the maximum value (θe) has become equal to or larger than a limitation start threshold value (θ1), the limiting reaction force setting processing circuit (M10b rapidly increases a limiting reaction force (Fie). An operation signal generation processing circuit (M26) controls a reaction-force motor to achieve a reaction force command value (Trqr*) corresponding to the limiting reaction force (Fie). When the absolute value of the maximum value (θe) has become equal to or larger than an engagement threshold value (θ2), a clutch is engaged to transmit a reaction force from the steered wheel-side to the steering wheel.
摘要翻译：提供了一种转向控制器，该转向控制器被配置为当执行用于抑制方向盘被操作以使得转向角超过上限的过程时，尽可能多地减少切换装置从中断状态到变速器状态的切换的发生限制值。最大值选择处理电路（M36）在从方向盘向转向车轮的动力传递被切断的状态下，将转向角（θp）和转向角（θh）中的最大值（θe）输出到限制反力设定处理电路（M10b）限制反力设定处理电路（M10b）在最大值（θe）的绝对值为限制开始阈值（θ1）以上的情况下，通过操作信号生成处理电路（M26）控制反作用力马达，实现与限制反作用力（Fie）对应的反作用力指令值（Trqr *），在最大值（θe）变为接合阈值（θ2）以上时，离合器接合，从转向轮侧向方向盘传递反作用力。

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