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1. 发明公开

EP3885214A1 STEERING DEVICE AND MOTOR CONTROL METHOD FOR STEERING DEVICE 审中-公开
公开(公告)号：EP3885214A1
公开(公告)日：2021-09-29
申请号：EP19886907.5
申请日：2019-11-19
申请人： JTEKT CORPORATION , NISSAN MOTOR CO., LTD.
发明人： OSAJIMA, Shintaro , UEDA, Taisuke , YAMAMOTO, Yosuke , ISHIMOTO, Masaya , NAKASONE, Gempei , TAMAKI, Hiromasa , AONO, Shinya , YAMASHITA, Yoshihiro
IPC分类号： B60W30/06 , B62D6/00 , B62D5/04
摘要： This steering device is provided with: an electric motor that is capable of steering a turning wheel connected to a steering wheel; and a control unit that changes a steering angle of the turning wheel by controlling the electric motor. The control unit comprises: an angle feedback control unit capable of executing automatic traveling control in which feedback control is performed such that a first target steering angle, which is calculated to cause a vehicle to travel along a preset target path in a travel route, matches the actual steering angle and also capable of executing automatic parking control in which feedback control is performed such that a second target steering angle, which is calculated to cause the vehicle to move from a current position to a parking position, matches the actual steering angle; and a gain setting unit which sets a feedback gain for the automatic parking control to a value smaller than a feedback gain for the automatic traveling control.

2. 发明公开

EP3281842A1 ACTUATOR CONTROL DEVICE 有权
标题翻译：执行器控制装置
公开(公告)号：EP3281842A1
公开(公告)日：2018-02-14
申请号：EP17184034.1
申请日：2017-07-31
申请人： JTEKT CORPORATION
发明人： MAEDA, Shingo , TOKO, Takahiro , NAKASONE, Gempei , AONO, Shinya
IPC分类号： B62D1/28 , B62D15/02
CPC分类号： B62D6/008 , B62D1/286 , B62D5/0412 , B62D5/0463 , B62D15/021 , B62D15/025
摘要： Provided is an actuator control device for making it less likely that a large change occurs in a steered angle of a steered wheel of a vehicle. An actuator control device (30) controls an actuator such that the actuator generates a force that causes a steering operation mechanism to steer a steered wheel. The actuator control device (30) includes an assist control circuit (60) for calculating a first assist component (Ta1*) and an automatic steering control circuit (70) for calculating a second assist component (Ta2*). The automatic steering control circuit (70) is allowed to calculate the second assist component (Ta2*) while a steering torque (Tm) is less than a first threshold value (B). The automatic steering control circuit (70) calculates the second assist component (Ta2*) by performing PID control that uses an integral term obtained on the basis of an angle deviation (Δθs). When the steering torque (Tm) is less than the first threshold value (B) but not less than a second threshold value (A), the automatic steering control circuit (70) limits the integral term in such a manner that it is harder for the integral term to increase while the steering torque (Tm) is not less than the second threshold value (A) than while the steering torque (Tm) is less than the second threshold value (A).
摘要翻译：本发明提供一种致动器控制装置，该致动器控制装置使得车辆的转向车轮的转向角发生较大变化的可能性较小。致动器控制装置（30）控制致动器，使得致动器产生使转向操作机构转向转向轮的力。致动器控制装置30包括用于计算第一辅助分量Ta1 *的辅助控制电路60和用于计算第二辅助分量Ta2 *的自动转向控制电路70。当转向扭矩（Tm）小于第一阈值（B）时，自动转向控制电路（70）被允许计算第二辅助分量（Ta2 *）。自动转向控制电路（70）通过执行使用基于角度偏差（Δθs）获得的积分项的PID控制来计算第二辅助分量（Ta2 *）。当转向转矩（Tm）小于第一阈值（B）但不小于第二阈值（A）时，自动转向控制电路（70）将积分项限制为难于在转向转矩（Tm）不小于第二阈值（A）的情况下比转向转矩（Tm）小于第二阈值（A）时增加的积分项。

3. 发明公开

EP3287341A1 VEHICLE CONTROLLER 有权转让
标题翻译：车辆控制器
公开(公告)号：EP3287341A1
公开(公告)日：2018-02-28
申请号：EP17185749.3
申请日：2017-08-10
申请人： JTEKT CORPORATION
发明人： MAEDA, Shingo , TAMAIZUMI, Terutaka , HASEGAWA, Jun , KITA, Masayuki , NAKASONE, Gempei , TAMAKI, Hiromasa
IPC分类号： B62D1/28 , B62D15/02
摘要： A vehicle controller configured to accurately determine a driver's intention to intervene in steering is provided. An ECU (40) includes a deviation calculating circuit (41), an assist control circuit (60), an automatic steering control circuit (70) including an intervention determination switching circuit (72), an adder (42), a current command value calculating circuit (43), and a motor control signal calculating circuit (44). The intervention determination switching circuit (72) includes a count amount calculating circuit (82), an adder (83), an immediately-preceding count amount output circuit (85), a switching determination circuit (86), and an output switching circuit (87). The count amount calculating circuit (82) calculates a count amount (C) having a positive value or a negative value based on a steering torque absolute value (|Th|) calculated by an absolute value switching circuit (81). The adder (83) calculates a total count amount (Ca) that is the total sum of a presently calculated count amount (C) and an immediately-preceding count amount (Co) calculated in an immediately-preceding calculation cycle. The switching determination circuit (86) determines a driver's intention to intervene in steering, based on whether the total count amount (Ca) is equal to or greater than a count amount threshold value (Tc).
摘要翻译：提供了一种车辆控制器，其被配置为准确地确定驾驶员干预转向的意图。 ECU40包括偏差运算电路41，辅助控制电路60，包含干预判定切换电路72，自动操舵控制电路70，加法器42，电流指令值计算电路（43）和电机控制信号计算电路（44）。介入判定切换电路72包括计数量计算电路82，加法器83，紧前面的计数量输出电路85，切换判定电路86和输出切换电路86。 87）。计数量计算电路（82）基于由绝对值切换电路（81）计算出的转向转矩绝对值（| Th |）来计算具有正值或负值的计数量（C）。加法器（83）计算作为当前计算的计数量（C）和紧接在前的计算周期中计算出的紧接在前的计数量（Co）的总计数的总计数量（Ca）。切换判定电路（86）基于总计数量（Ca）是否等于或大于计数量阈值（Tc）来判定驾驶员干预转向的意图。

4. 发明授权

EP2674348B1 ELECTRIC POWER STEERING DEVICE AND SENSOR ABNORMALITY DETECTION DEVICE 有权
标题翻译：电动转向装置和传感器异常检测装置
公开(公告)号：EP2674348B1
公开(公告)日：2017-10-04
申请号：EP12744848.8
申请日：2012-02-10
申请人： JTEKT Corporation
发明人： ITAMOTO, Hidenori , ITO, Akira , EKI, Hirozumi , NAKASONE, Gempei
IPC分类号： B62D6/00 , B62D5/04 , G05B23/02
CPC分类号： B62D5/049 , B62D5/0484

5. 发明授权

EP2722255B1 ELECTRIC POWER STEERING APPARATUS 有权
公开(公告)号：EP2722255B1
公开(公告)日：2016-03-02
申请号：EP12800405.8
申请日：2012-06-12
申请人： JTEKT Corporation
发明人： ITAMOTO, Hidenori , EKI, Hirozumi , NAKASONE, Gempei
IPC分类号： B62D5/04 , B62D6/00
CPC分类号： B62D5/0463 , B62D5/0484 , B62D5/049

6. 发明授权

EP3287341B1 VEHICLE CONTROLLER 有权转让
公开(公告)号：EP3287341B1
公开(公告)日：2020-03-04
申请号：EP17185749.3
申请日：2017-08-10
申请人： JTEKT CORPORATION
发明人： MAEDA, Shingo , TAMAIZUMI, Terutaka , HASEGAWA, Jun , KITA, Masayuki , NAKASONE, Gempei , TAMAKI, Hiromasa
IPC分类号： B62D1/28 , B62D15/02 , B60W50/08 , B60W50/10 , B60W30/12 , B60W30/18

7. 发明授权

EP3281842B1 ACTUATOR CONTROL DEVICE 有权
公开(公告)号：EP3281842B1
公开(公告)日：2019-06-19
申请号：EP17184034.1
申请日：2017-07-31
申请人： JTEKT CORPORATION
发明人： MAEDA, Shingo , TOKO, Takahiro , NAKASONE, Gempei , AONO, Shinya
IPC分类号： B62D1/28 , B62D15/02 , B62D5/04 , B62D6/00

8. 发明公开

EP2722255A1 ELECTRIC POWER STEERING APPARATUS 有权
标题翻译：电动转向装置
公开(公告)号：EP2722255A1
公开(公告)日：2014-04-23
申请号：EP12800405.8
申请日：2012-06-12
申请人： JTEKT Corporation
发明人： ITAMOTO, Hidenori , EKI, Hirozumi , NAKASONE, Gempei
IPC分类号： B62D6/00 , B62D5/04 , B62D101/00 , B62D111/00 , B62D113/00 , B62D117/00 , B62D119/00
CPC分类号： B62D5/0463 , B62D5/0484 , B62D5/049
摘要： When only one of sensor signals (Sa, Sb) generated by the plural systems and output from a torque sensor (14) is normal, a control variable restriction processing part (29) performs an assist restricting process for setting an upper limit value and a lower limit value of a basic assist control variable (ε_as) in accordance with at least one of the lateral acceleration (g), the steering angle (θs), the steering speed (ws), or the yaw rate.
摘要翻译：控制变量限制处理部29在由多个系统生成并从转矩传感器14输出的传感器信号Sa，Sb中的任意一个正常的情况下，进行用于设定上限值的辅助限制处理，根据横向加速度（g），转向角（θs），转向速度（ws）或横摆率中的至少一个来确定基本辅助控制变量（ε_as）的下限值。

9. 发明公开

EP2674348A1 ELECTRIC POWER STEERING DEVICE AND SENSOR ABNORMALITY DETECTION DEVICE 有权
标题翻译：电动动力转向装置和装置检测传感器的故障
公开(公告)号：EP2674348A1
公开(公告)日：2013-12-18
申请号：EP12744848.8
申请日：2012-02-10
申请人： JTEKT Corporation
发明人： ITAMOTO, Hidenori , ITO, Akira , EKI, Hirozumi , NAKASONE, Gempei
IPC分类号： B62D6/00 , B62D5/04
CPC分类号： B62D5/049 , B62D5/0484
摘要： An ECU controls the operation of an EPS actuator in order to periodically apply instantaneous motor torque to a steering system when assist continuation control is executed using a sensor signal (residual sensor signal) that is output by a sensor element in which an abnormality has not been detected, regardless of the application of an assist force. The ECU also detects an abnormality in the residual sensor signal based on whether the application of instantaneous motor torque is reflected in the residual sensor signal, which is the basis of the assist continuation control.

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