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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

EP3219580A1 STEERING CONTROL APPARATUS 有权
标题翻译：转向控制装置
公开(公告)号：EP3219580A1
公开(公告)日：2017-09-20
申请号：EP17160885.4
申请日：2017-03-14
申请人： JTEKT CORPORATION
发明人： KODERA, Takashi , YAMANO, Naoki , ITAMOTO, Hidenori , YAMASHITA, Yoshihiro , ANRAKU, Koji
IPC分类号： B62D6/00 , B62D5/00
CPC分类号： B62D5/0463 , B62D5/0412 , B62D6/002 , B62D6/008 , B62D6/04 , B62D6/08
摘要： A steering control apparatus includes a steering angle feedback processing unit M22 and an operation signal generation processing unit M24 that operate a reaction force actuator to adjust a steering angle θh to a target steering angle θh* that is a target value for the steering angle θh based on feedback control, an ideal-axial-force calculation unit M10ab that calculates an ideal axial force Fib, a road-surface-axial-force calculation unit M10ac that calculates a road surface axial force Fer, an axial-force allocation calculation unit M10aa that calculates a base reaction force Fd in which the ideal axial force Fib and the road surface axial force Fer are allocated in a predetermined ratio, and a target steering angle calculation processing unit M20 that sets a target steering angle θh* based on the base reaction force Fd. The steering angle feedback processing unit M22 feeds back the target steering angle θh* in which road surface information is incorporated through the road surface axial force Fer, so that the steering angle θh is controlled.
摘要翻译：转向控制装置具备转向角反馈处理部M22和操作信号生成处理部M24，该转向角反馈处理部M22和操作信号生成处理部M24对反作用力致动器进行操作，将转向角θh调整成作为基于转向角θh的目标值的目标转向角θh* 在反馈控制中，计算理想轴力F e的理想轴力计算部M10ab，计算路面轴力Fer的路面轴力计算部M10ac，计算轴力分配计算部M10aa的轴力分配计算部M10aa 目标转向角计算处理单元M20基于基本反作用力计算目标转向角θh*，目标转向角计算处理单元M20以预定比例计算其中分配有理想轴向力Fib和路面轴向力Fer的基本反作用力Fd FD。转向角反馈处理单元M22通过路面轴向力Fer反馈其中包含路面信息的目标转向角θh*，从而控制转向角θh。

3. 发明授权

EP3162658B1 STEERING CONTROL APPARATUS 有权转让
公开(公告)号：EP3162658B1
公开(公告)日：2018-07-25
申请号：EP16195566.1
申请日：2016-10-25
申请人： JTEKT CORPORATION
发明人： KODERA, Takashi , YAMANO, Naoki , ITAMOTO, Hidenori , YAMASHITA, Yoshihiro , ANRAKU, Koji
IPC分类号： B62D5/00 , B62D5/04 , B62D6/00
CPC分类号： B62D6/002 , B62D5/008 , B62D5/0472 , B62D6/008
摘要： A steering control apparatus is provided which suppresses possible vibration of a steering system resulting from differential steering processing when a steering angle (¸h) or a steered angle (¸p) has a large value. A differential steering processing circuit (M38) calculates a differential steering correction amount (¸d) based on a difference value of a target steering angle (¸h*), and increases or reduces the target steering angle (¸h*) using the calculated amount to obtain a target steered angle (¸p*). A limiting reaction force setting processing circuit (M10b) increases a limiting reaction force (Fie) when a maximum value (¸e) of the target steering angle (¸h*) and the target steered angle (¸p*) is equal to or larger than a common threshold (¸en). When the maximum value (¸e) approaches the common threshold (¸en), an angle-sensitive gain setting processing circuit (M38c) reduces an angle-sensitive gain (G¸) so as to correct and reduce the differential steering correction amount (¸d). (Figure 2)

4. 发明公开

EP3159242A3 STEERING CONTROL APPARATUS 审中-公开
标题翻译：转向控制装置
公开(公告)号：EP3159242A3
公开(公告)日：2017-07-19
申请号：EP16194034.1
申请日：2016-10-14
申请人： JTEKT Corporation
发明人： YAMANO, Naoki , ITAMOTO, Hidenori , KODERA, Takashi , YAMASHITA, Yoshihiro , ANRAKU, Koji
IPC分类号： B62D5/04
CPC分类号： B62D5/0463 , B62D5/046 , B62D5/0484 , B62D5/049 , B62D6/008
摘要： A steering control apparatus is provided which allows suppression of a possible situation where a synchronous motor is unintentionally subjected to regenerative control even when a guard process is executed on an estimated amount of change that is the amount of rotation of the synchronous motor and is calculated based on an induced voltage. An update amount calculation processing circuit (M54) manipulates a control angle (θc) based on an update amount (Δθc) in order to perform feedback-control for causing a steering torque (Trqs) to be adjusted to a target torque (Trqs*). In this case, the update amount calculation processing circuit (M54) executes a guard process on the update amount (Δθc) with reference to an estimated amount of change (Δθc2) that is a speed equivalent value based on estimation by an induced voltage observer (M46). However, when a command current set by a command current setting processing circuit (M24) is zero, the update amount calculation processing circuit (M54) determines the estimated amount of change (Δθc2) subjected to the guard process to be the update amount (Δθc). When the command current is zero and the update amount (Δθc) is fixed to a guard value, an electric path between the synchronous motor and a battery is blocked.
摘要翻译：提供了一种转向控制设备，其允许抑制即使在对作为同步电动机的旋转量的估计变化量执行保护处理的情况下同步电动机无意地再生控制的可能情况，并且该转向控制设备基于在感应电压上。更新量计算处理电路（M54）基于更新量（Δθc）来操纵控制角度（θc），以执行用于使转向扭矩（Trqs）被调整为目标扭矩（Trqs *）的反馈控制。在这种情况下，更新量计算处理电路（M54）参考作为基于感应电压观测器的估计的速度等效值的估计变化量（Δθc2）来执行关于更新量（Δθc）的保护处理 M46）。但是，在由指令电流设定处理电路（M24）设定的指令电流为零的情况下，更新量计算处理电路（M54）将经过保护处理的推定变化量（Δθc2）决定为更新量（Δθc ）。当指令电流为零且更新量（Δθc）固定为保护值时，同步电机与电池之间的电气路径被阻断。

5. 发明公开

EP3162658A1 STEERING CONTROL APPARATUS 有权转让
标题翻译：转向控制装置
公开(公告)号：EP3162658A1
公开(公告)日：2017-05-03
申请号：EP16195566.1
申请日：2016-10-25
申请人： JTEKT Corporation
发明人： KODERA, Takashi , YAMANO, Naoki , ITAMOTO, Hidenori , YAMASHITA, Yoshihiro , ANRAKU, Koji
IPC分类号： B62D5/00 , B62D5/04 , B62D6/00
CPC分类号： B62D6/002 , B62D5/008 , B62D5/0472 , B62D6/008
摘要： A steering control apparatus is provided which suppresses possible vibration of a steering system resulting from differential steering processing when a steering angle (θh) or a steered angle (θp) has a large value. A differential steering processing circuit (M38) calculates a differential steering correction amount (θd) based on a difference value of a target steering angle (θh*), and increases or reduces the target steering angle (θh*) using the calculated amount to obtain a target steered angle (θp*). A limiting reaction force setting processing circuit (M10b) increases a limiting reaction force (Fie) when a maximum value (θe) of the target steering angle (θh*) and the target steered angle (θp*) is equal to or larger than a common threshold (θen). When the maximum value (θe) approaches the common threshold (θen), an angle-sensitive gain setting processing circuit (M38c) reduces an angle-sensitive gain (Gθ) so as to correct and reduce the differential steering correction amount (θd).
(Figure 2)
摘要翻译：提供一种转向控制装置，其在转向角（θh）或转向角（θp）具有较大值时抑制由差动转向处理导致的转向系统的可能的振动。差动转向处理电路（M38）基于目标转向角（θh*）的差分值来计算差分转向修正量（θd），并且使用所计算的量来增大或减小目标转向角（θh*）以获得目标转向角（θp*）。当目标转向角（θh*）和目标转向角（θp*）的最大值（θe）等于或大于a时，限制反作用力设定处理电路（M10b）增加限制反作用力共同阈值（θen）。当最大值（θe）接近公共阈值（θen）时，角度灵敏增益设置处理电路（M38c）减小角度灵敏增益（Gθ），以校正并减小差分转向校正量（θd）。（图2）

6. 发明授权

EP3315383B1 STEERING DEVICE 有权转让
公开(公告)号：EP3315383B1
公开(公告)日：2019-05-22
申请号：EP17190713.2
申请日：2017-09-12
申请人： JTEKT CORPORATION
发明人： YAMASHITA, Yoshihiro , ITAMOTO, Hidenori
IPC分类号： B62D5/04 , B62D6/00

7. 发明公开

EP3315383A1 STEERING DEVICE 有权转让
标题翻译：转向装置
公开(公告)号：EP3315383A1
公开(公告)日：2018-05-02
申请号：EP17190713.2
申请日：2017-09-12
申请人： JTEKT CORPORATION
发明人： YAMASHITA, Yoshihiro , ITAMOTO, Hidenori
IPC分类号： B62D5/04 , B62D6/00
CPC分类号： B62D5/0469 , B62D5/0409 , B62D6/002 , B62D6/008 , B62D15/021
摘要： A steering device is provided which can restrain the driver from turning a steering wheel to a position beyond a virtual steering limit position. A base current command value calculation circuit (55) calculates a base current command value (Ias*) based on a steering torque (Th) and a vehicle speed (V). A memory (59) has stored therein a desired steering angle value (θ E ) that is a constant representing the virtual steering limit position. In the case where a steering angle threshold is set to a value close to, and smaller than, the desired steering angle value (θ E ), a first correction value calculation circuit (56) calculates a first correction value (Ira*) so that a steering reaction force is increased rapidly when a steering angle (θs) becomes equal to or larger than the steering angle threshold. A second correction value calculation circuit (57) calculates a second correction value (Irb*) so that the steering angle (θs) becomes equal to the desired steering angle value (θ E ) when the steering angle (θs) becomes equal to or larger than the steering angle threshold. The base current command value (Ias*) is corrected by the first correction value (Ira*) and the second correction value (Irb*). The driver is thus restrained from turning the steering wheel to a position beyond the desired steering angle value (θ E ).
摘要翻译：提供了一种转向装置，其能够限制驾驶员将方向盘转到超出虚拟转向极限位置的位置。基本电流指令值计算电路（55）基于转向转矩（Th）和车速（V）来计算基本电流指令值（Ias *）。存储器（59）中存储有作为表示虚拟转向极限位置的常数的期望转向角值（θE）。第一校正值计算电路56在转向角度阈值被设定为接近且小于期望转向角度值（θE）的值的情况下，计算第一校正值（Ira *），使得a 当转向角（θs）变得等于或大于转向角阈值时，转向反作用力迅速增大。第二校正值计算电路（57）计算第二校正值（Irb *），使得当转向角度（θs）变得等于或大于等于或大于预定值时，转向角度（θs）等于期望转向角度值（θE）转向角度阈值。通过第一校正值（Ira *）和第二校正值（Irb *）校正基础电流指令值（Ias *）。因此限制驾驶员将方向盘转到超出期望转向角值（θE）的位置。

8. 发明授权

EP3219580B1 STEERING CONTROL APPARATUS 有权
公开(公告)号：EP3219580B1
公开(公告)日：2020-11-25
申请号：EP17160885.4
申请日：2017-03-14
申请人： JTEKT CORPORATION
发明人： KODERA, Takashi , YAMANO, Naoki , ITAMOTO, Hidenori , YAMASHITA, Yoshihiro , ANRAKU, Koji
IPC分类号： B62D6/00 , B62D5/00

9. 发明公开

EP3159242A2 STEERING CONTROL APPARATUS 审中-公开
标题翻译： LENKSTEUERUNGSVORRICHTUNG
公开(公告)号：EP3159242A2
公开(公告)日：2017-04-26
申请号：EP16194034.1
申请日：2016-10-14
申请人： JTEKT Corporation
发明人： YAMANO, Naoki , ITAMOTO, Hidenori , KODERA, Takashi , YAMASHITA, Yoshihiro , ANRAKU, Koji
IPC分类号： B62D5/04
CPC分类号： B62D5/0463 , B62D5/046 , B62D5/0484 , B62D5/049 , B62D6/008
摘要： A steering control apparatus is provided which allows suppression of a possible situation where a synchronous motor is unintentionally subjected to regenerative control even when a guard process is executed on an estimated amount of change that is the amount of rotation of the synchronous motor and is calculated based on an induced voltage. An update amount calculation processing circuit (M54) manipulates a control angle (θc) based on an update amount (Δθc) in order to perform feedback-control for causing a steering torque (Trqs) to be adjusted to a target torque (Trqs*). In this case, the update amount calculation processing circuit (M54) executes a guard process on the update amount (Δθc) with reference to an estimated amount of change (Δθc2) that is a speed equivalent value based on estimation by an induced voltage observer (M46). However, when a command current set by a command current setting processing circuit (M24) is zero, the update amount calculation processing circuit (M54) determines the estimated amount of change (Δθc2) subjected to the guard process to be the update amount (Δθc). When the command current is zero and the update amount (Δθc) is fixed to a guard value, an electric path between the synchronous motor and a battery is blocked.
摘要翻译：提供了一种转向控制装置，其允许抑制同步电动机无意地进行再生控制的可能情况，即使在基于同步电动机的旋转量的估计变化量执行保护处理并且基于计算基础感应电压。更新量计算处理电路（M54）基于更新量（“¸c”）来操纵控制角（¸c），以便执行用于使转向转矩（Trqs）被调整到目标转矩（关税配额*）。在这种情况下，更新量计算处理电路（M54）参考基于估计的改变量（“¸c2”），基于由感应电压观测器（M46）。然而，当由指令电流设定处理电路（M24）设定的指令电流为零时，更新量计算处理电路（M54）将经过保护处理的估计变化量（“¸c2”）确定为更新量（“C）。当指令电流为零并且更新量（“¸c”）固定为保护值时，同步电机和电池之间的电气路径被阻挡。

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