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1. 发明授权

EP3150463B1 STEERING CONTROL DEVICE 失效
公开(公告)号：EP3150463B1
公开(公告)日：2019-05-22
申请号：EP14892893.0
申请日：2014-05-30
申请人： Mitsubishi Electric Corporation
发明人： TODA, Taizo , ENDO, Masaya , KIMPARA, Yoshihiko , OGAWA, Kenji
IPC分类号： B62D6/00 , B62D101/00 , B62D119/00 , B62D5/04

2. 发明授权

EP3192721B1 STEERING CONTROL DEVICE 失效
公开(公告)号：EP3192721B1
公开(公告)日：2019-05-01
申请号：EP14901456.5
申请日：2014-09-12
申请人： Mitsubishi Electric Corporation
发明人： TODA, Taizo , OGAWA, Kenji , ENDO, Masaya
IPC分类号： B62D6/00 , B62D5/04 , B62D101/00 , B62D117/00 , B62D119/00 , B62D137/00

3. 发明公开

EP2985205A1 STEERING CONTROL DEVICE, AND STEERING CONTROL METHOD 失效
公开(公告)号：EP2985205A1
公开(公告)日：2016-02-17
申请号：EP13881596.4
申请日：2013-04-08
申请人： Mitsubishi Electric Corporation
发明人： ENDO, Masaya , KIMPARA, Yoshihiko , IKEDA, Hidetoshi , OGAWA, Kenji , TODA, Taizo
IPC分类号： B62D6/00 , B62D5/04 , B62D113/00 , B62D119/00
CPC分类号： B62D5/0463 , B60W10/20 , B62D5/0466 , B62D5/0472 , B62D6/02 , B62D6/10 , B62D15/025
摘要： Provided are a steering control device and a steering control method therefor, which reduce a steering feeling of discomfort due to a pulsed change (short abrupt change) in steering assist torque caused when control such as steering wheel return control is turned on/off, and which acquire a sufficient control effect even when high control response is required, by reducing a fluctuation in steering assist torque caused when one steering assist torque is selected from two or more steering assist torques by low-pass filtering, and by correcting the low-pass filtering depending on a change amount of the selected steering assist torque.

4. 发明授权

EP2149489B1 VEHICLE STEERING GEAR 有权
标题翻译：汽车转向器
公开(公告)号：EP2149489B1
公开(公告)日：2015-01-14
申请号：EP07744411.5
申请日：2007-05-30
申请人： Mitsubishi Electric Corporation
发明人： OGAWA, Kenji , OKAZAKI, Masafumi , YAMAMOTO, Masayoshi
IPC分类号： B62D6/00 , B60R16/02 , B62D5/04 , B62D5/30 , H02P3/12
CPC分类号： B62D5/008 , B62D5/0481

5. 发明公开

EP2578471A1 AUTOMATIC STEERING DEVICE 失效
标题翻译： AUTOMATISCHE LENKVORRICHTUNG
公开(公告)号：EP2578471A1
公开(公告)日：2013-04-10
申请号：EP11789623.3
申请日：2011-05-18
申请人： Mitsubishi Electric Corporation
发明人： ENDO, Masaya , KURISHIGE, Masahiko , OGAWA, Kenji , KIFUKU, Takayuki , KOZUKI, Hiroyuki
IPC分类号： B62D6/00 , B62D5/04 , B62D101/00 , B62D113/00 , B62D119/00
CPC分类号： B62D1/286 , B62D6/002
摘要： An automatic steering apparatus is provided that can suppress steering wheel vibration and that can also smooth angular control. In the automatic steering apparatus, a motor (7) that steers steered wheels (5) is controlled by a control unit (a controlling apparatus) (12). Information from an angle sensor (a steering angle detecting portion) (8) that generates a signal that corresponds to a steering angle of the steered wheels (5) is sent to the control unit (12). The control unit (12) corrects a target steering angle of the steered wheels (5) such that angular acceleration of the target steering angle is less than or equal to a limiting value. The control unit (12) controls the motor (7) such that the steering angle of the steered wheels (5) tracks the corrected target steering angle based on the information from the angle sensor (8).
摘要翻译：提供能够抑制方向盘振动并且还可以平滑角度控制的自动转向装置。在自动转向装置中，转向轮（5）的电动机（7）由控制单元（控制装置）（12）控制。来自控制单元（12）的信息被发送到产生与转向轮（5）的转向角相对应的信号的角度传感器（转向角检测部）8。控制单元（12）校正转向轮（5）的目标转向角，使得目标转向角的角加速度小于或等于极限值。控制单元（12）控制马达（7），使得转向轮（5）的转向角度基于来自角度传感器（8）的信息跟踪校正的目标转向角。

6. 发明公开

EP2213546A1 STEERING CONTROL DEVICE 有权
标题翻译： LENKSTEUERVORRICHTUNG
公开(公告)号：EP2213546A1
公开(公告)日：2010-08-04
申请号：EP07832562.8
申请日：2007-11-27
申请人： Mitsubishi Electric Corporation
发明人： ENDO, Masaya , KURISHIGE, Masahiko , OGAWA, Kenji
IPC分类号： B62D6/00 , B62D5/04 , B62D101/00 , B62D113/00 , B62D119/00
CPC分类号： B62D1/28 , B62D5/0463 , B62D15/0285
摘要： A steering control device capable of smooth automatic steering control by suppressing, during automatic steering, fluctuation of a target current for electric power assist, caused by inertia torque acting on a steering wheel, including: an section (71) for calculating the target current for a motor for electric power assist control; an section (72) for calculating a target current for automatic steering for the motor for automatic steering control of wheels; a (73) for controlling a motor current according to a sum of the target currents for electric power assist and automatic steering at a time of the automatic steering control; a section (711) for extracting a predetermined frequency component that contains a driver's steering frequency of the target current for assist and don't contain a fluctuation component a frequency caused by inertia torque of the steering wheel, and correcting the target current for assist based on the extracted frequency component.
摘要翻译：一种转向控制装置，其能够通过在自动转向期间抑制作用于方向盘的惯性转矩引起的用于电力辅助的目标电流的波动而平滑地进行自动转向控制，所述转向控制装置包括：用于计算目标电流的部分（71）用于电力辅助控制的电动机; 用于计算用于车轮的自动转向控制的电动机的自动转向的目标电流的部分（72） a（73），用于根据用于电力辅助的目标电流和自动转向控制时的自动转向之和来控制电动机电流; 用于提取包含用于辅助的目标电流的驾驶员转向频率的预定频率分量的部分（711），并且不包含由方向盘的惯性转矩引起的频率的波动分量，并且基于辅助的方式校正目标电流在提取的频率分量上。

7. 发明授权

EP2985207B1 STEERING CONTROL DEVICE, AND STEERING CONTROL METHOD 失效
公开(公告)号：EP2985207B1
公开(公告)日：2018-05-23
申请号：EP13882023.8
申请日：2013-04-08
申请人： Mitsubishi Electric Corporation
发明人： ENDO, Masaya , KIMPARA, Yoshihiko , OGAWA, Kenji , TODA, Taizo
IPC分类号： B62D6/00 , B62D5/04 , B62D113/00 , B62D119/00
CPC分类号： B62D5/0463 , B62D5/0466
摘要： Provided is a steering control device, including: an actuator for applying a steering assist torque to a steering system of a vehicle; a vehicle turning state detection section for detecting a state amount representing a turning state of the vehicle; a steering-holding determination section for determining a steering-holding state of the steering system; a storing section for storing, when the steering-holding determination section determines that the steering system is in the steering-holding state, the state amount detected by the vehicle turning state detection section as a steering-holding determination state amount; a steering assist torque calculation section for calculating the steering assist torque based on an absolute value of the steering-holding determination state amount; and an actuator control section for controlling the actuator based on the calculated steering assist torque.

8. 发明公开

EP3263422A1 ELECTRIC POWER STEERING APPARATUS 有权
标题翻译：电动转向装置
公开(公告)号：EP3263422A1
公开(公告)日：2018-01-03
申请号：EP15883217.0
申请日：2015-02-26
申请人： Mitsubishi Electric Corporation
发明人： IIDA, Hajime , GOKAN, Hiroshi , OGAWA, Kenji
IPC分类号： B62D5/04 , H02P6/18
摘要： In an electric power steering device to be assisted by a brushless motor, an induced voltage from a brushless motor revolved by an external force is detected via a rectification circuit when a main power supply is off, and this induced voltage is compared with a high rpm detection threshold and a return detection threshold for low rpm detection, which is lower than the high rpm detection threshold for determination. The brushless motor is determined to be in a high rpm state when the induced voltage is in a first transient state in which the induced voltage transitions from a voltage equal to or less than the high rpm detection threshold to a voltage equal to or more than the high rpm detection threshold, thereby setting an intermittent excitation cycle of a revolution angle sensor connected to the brushless motor to a short cycle determined in advance. The brushless motor is determined to be in a low rpm state when the induced voltage becomes a voltage equal to or less than the low rpm detection threshold after a wait period corresponding to an electrical angle between peaks or between valleys of an output voltage of a rectification circuit has elapsed in a second transient state in which the induced voltage transitions from a voltage equal to or more than the high rpm detection threshold to a voltage equal to less than the high rpm detection threshold, thereby setting the intermittent excitation cycle to a long cycle set in advance.
摘要翻译：在无刷电动机辅助的电动助力转向装置中，在主电源断开时，经由整流电路检测来自外力旋转的无刷电动机的感应电压，将该感应电压与高转速检测阈值和用于低转速检测的返回检测阈值，其低于用于确定的高转速检测阈值。当感应电压处于第一过渡状态时，无刷电动机被确定为处于高转速状态，在第一过渡状态中，感应电压从等于或低于高转速检测阈值的电压转变为等于或大于高转速检测阈值，由此将连接至无刷电动机的转角传感器的间歇激励周期设置为预先确定的短周期。在感应电压变为等于或小于低转速检测阈值的电压之后，无刷电动机被确定为处于低转速状态，该等待时间对应于峰值之间的电气角或者在整流的输出电压的谷之间在感应电压从等于或大于高转速检测阈值的电压转变为等于小于高转速检测阈值的电压，由此将间歇激励周期设置为长周期的第二过渡状态下经过了电路提前设定。

9. 发明授权

EP2985205B1 STEERING CONTROL DEVICE, AND STEERING CONTROL METHOD 失效
标题翻译：转向控制装置和转向控制方法
公开(公告)号：EP2985205B1
公开(公告)日：2017-09-13
申请号：EP13881596.4
申请日：2013-04-08
申请人： Mitsubishi Electric Corporation
发明人： ENDO, Masaya , KIMPARA, Yoshihiko , IKEDA, Hidetoshi , OGAWA, Kenji , TODA, Taizo
IPC分类号： B62D6/00 , B62D5/04 , B62D113/00 , B62D119/00 , B60W10/20
CPC分类号： B62D5/0463 , B60W10/20 , B62D5/0466 , B62D5/0472 , B62D6/02 , B62D6/10 , B62D15/025

10. 发明公开

EP3150463A1 STEERING CONTROL DEVICE 失效
标题翻译：转向控制装置
公开(公告)号：EP3150463A1
公开(公告)日：2017-04-05
申请号：EP14892893.0
申请日：2014-05-30
申请人： Mitsubishi Electric Corporation
发明人： TODA, Taizo , ENDO, Masaya , KIMPARA, Yoshihiko , OGAWA, Kenji
IPC分类号： B62D6/00 , B62D101/00 , B62D119/00
CPC分类号： B62D6/00 , B62D5/0463 , B62D5/0466 , B62D6/008
摘要： A steering control apparatus is obtained which accurately determines a friction transition-state without using road-surface reaction torque, and can freely adjust hysteresis widths of steering torque with stability. The apparatus includes an assist instruction-value correction means (14) for correcting a basic assist instruction-value, based on a result of a friction transition-state determination means (13), so that a hysteresis width of steering torque increases at the time of turn-back steering, and an electric current driving means (10) for driving a motor (5) so that an electric current of the motor (5) is coincident with an electric current based on a basic assist instruction-value by an assist correction value; and the friction transition-state determination means (13) determines the friction transition-state by integrating a differential value of steering-shaft reaction torque using an integrator (17) having a limiting function to an upper or lower limit value defined in advance.
摘要翻译：获得了一种转向控制装置，该转向控制装置在不使用路面反作用转矩的情况下精确地确定摩擦过渡状态，并且可以稳定地自由调节转向转矩的滞后幅度。该设备包括用于基于摩擦转变状态确定装置（13）的结果来校正基本辅助指令值的辅助指令值校正装置（14），以使转向扭矩的滞后幅度在此时增加，以及电流驱动装置（10），用于驱动电动机（5），使得电动机（5）的电流与基于辅助基本辅助指令值的电流一致修正值; 所述摩擦过渡状态判定单元通过将具有限制功能的积分器的转向轴反作用转矩的微分值与预先设定的上限值或下限值进行积分来判定所述摩擦过渡状态。

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