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1. 发明授权

EP2985206B1 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：EP2985206B1
公开(公告)日：2017-10-04
申请号：EP13882012.1
申请日：2013-04-08
申请人： Mitsubishi Electric Corporation
发明人： ENDO, Masaya , IKEDA, Hidetoshi , KEZOBO, Isao , OGAWA, Kenji , TODA, Taizo
IPC分类号： B62D6/00 , B62D5/04 , B62D113/00 , B62D119/00
CPC分类号： B62D5/0466 , B62D5/0463 , B62D6/08

2. 发明公开

EP2985206A1 STEERING CONTROL DEVICE, AND STEERING CONTROL METHOD 失效
标题翻译： LENKSTEUERUNGSVORRICHTUNG UND LENKSTEUERUNGSVERFAHREN
公开(公告)号：EP2985206A1
公开(公告)日：2016-02-17
申请号：EP13882012.1
申请日：2013-04-08
申请人： Mitsubishi Electric Corporation
发明人： ENDO, Masaya , IKEDA, Hidetoshi , KEZOBO, Isao , OGAWA, Kenji , TODA, Taizo
IPC分类号： B62D6/00 , B62D5/04 , B62D113/00 , B62D119/00
CPC分类号： B62D5/0466 , B62D5/0463 , B62D6/08
摘要： Provided are a steering control device and the like, including the steps of: calculating a steering assist torque to be applied to an actuator for applying the steering assist torque to a steering system of a vehicle in order to improve return characteristics of the steering system; determining a steering state of a driver; correcting the steering assist torque depending on a result of the steering state determination; and controlling the actuator depending on the corrected steering assist torque, in which the step of determining a steering state of a driver includes determining the steering state of the driver based on a combination of at least two of the following: a manually-operating steering state determination; an abrupt steering wheel return determination; a high-acceleration steering wheel return determination; a manual return steering determination; and an additional-steering determination.
摘要翻译：提供了一种转向控制装置等，包括以下步骤：计算要施加到用于向车辆的转向系统施加转向辅助转矩的致动器的转向辅助转矩，以便改善转向系统的返回特性; 确定驾驶员的转向状态; 根据转向状态确定的结果来校正转向辅助转矩; 以及根据修正的转向辅助转矩来控制致动器，其中确定驾驶员的转向状态的步骤包括基于以下至少两个的组合来确定驾驶员的转向状态：手动操作的转向状态决心; 突然的方向盘返回确定; 高加速度方向盘返回确定; 手动返回转向确定; 和额外的转向确定。

3. 发明公开

EP3450284A1 STEERING CONTROL DEVICE 有权
公开(公告)号：EP3450284A1
公开(公告)日：2019-03-06
申请号：EP16900365.4
申请日：2016-04-26
申请人： Mitsubishi Electric Corporation
发明人： TODA, Taizo , ENDO, Masaya , OGAWA, Kenji
IPC分类号： B62D6/00
摘要： Based on the result of determination by a friction transition state determination unit, an assist command value correction unit corrects a basic assist command value in such a way that the hysteresis width of steering torque at a time of turning steering increases; then, a current driving unit controls a motor current in such a way that the motor current coincides with a current command value obtained by correcting the basic assist command value by use of an assist command correction value.

4. 发明授权

EP3067251B1 ELECTRIC POWER STEERING CONTROL DEVICE AND ELECTRIC POWER STEERING CONTROL METHOD 有权
公开(公告)号：EP3067251B1
公开(公告)日：2019-01-02
申请号：EP13897075.1
申请日：2013-11-08
申请人： Mitsubishi Electric Corporation
发明人： TODA, Taizo , OKADA, Jiro
IPC分类号： B62D5/04 , B62D6/00

5. 发明公开

EP3192721A1 STEERING CONTROL DEVICE 失效
标题翻译：转向控制装置
公开(公告)号：EP3192721A1
公开(公告)日：2017-07-19
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
CPC分类号： B62D6/00 , B62D5/046 , B62D5/0463 , B62D6/02 , B62D6/10
摘要： The steering control device according to the present invention includes: a current command value 1 calculation unit 11 which determines a current command value 1 based on a vehicle speed and a steering torque; a current command value 2 calculation unit 14 which determines a current command value 2 based on a differential value of the steering torque which has been filtered; and a current drive unit 10 which drives a motor 5 in such a manner that the value of the current flowing in the motor 5 matches the sum of the current command value 1 and the current command value 2. When a first crossover frequency represents the crossover frequency of control open loop characteristics in the steering control device as obtained when the current command value 2 is determined using a differential value of the steering torque which has not been filtered, the notch frequency of the notch filter which carries out the filtering process is set to be greater than the mechanical resonance frequency of the steering control device and smaller than the first crossover frequency.
摘要翻译：根据本发明的转向控制装置包括：电流命令值1计算单元11，其基于车辆速度和转向转矩来确定电流命令值1; 电流指令值2计算单元14，其基于已经过滤的转向转矩的微分值来确定电流指令值2; 以及以这样的方式驱动电动机5的电流驱动单元10，使得在电动机5中流动的电流的值匹配电流命令值1和电流命令值2的总和。当第一交叉频率表示交叉当使用未被滤波的转向转矩的微分值确定电流指令值2时获得的转向控制装置中的控制开环特性的频率被设置为进行滤波处理的陷波滤波器的陷波频率大于转向控制装置的机械共振频率并且小于第一交叉频率。

6. 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.

7. 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

8. 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。

9. 发明公开

EP3831694A1 STEERING CONTROL SYSTEM 有权
公开(公告)号：EP3831694A1
公开(公告)日：2021-06-09
申请号：EP18928456.5
申请日：2018-07-31
申请人： Mitsubishi Electric Corporation
发明人： TODA, Taizo , ENDO, Masaya
IPC分类号： B62D6/00 , B62D5/04
摘要： A steering control device includes a transverse gradient estimator configured to estimate a transverse gradient of a road surface on which a vehicle travels; an assisting amount calculator configured to calculate a first assisting amount based on the transverse gradient; a low pass filter configured to perform a low pass filter processing for the first assisting amount, and output the processed first assisting amount subjected to the low pass filter processing, as a second assisting amount; and a motor controller configured to control a motor that generates a steering assist torque, using the second assisting amount. The low pass filter switches a cut-off frequency of the low pass filter between a first cut-off frequency and a second cut-off frequency that is set to a value higher than the first cut-off frequency, depending on whether the second assisting amount increases with time or the second assisting amount decreases with time.

10. 发明公开

EP3067251A1 ELECTRIC POWER STEERING CONTROL DEVICE AND ELECTRIC POWER STEERING CONTROL METHOD 有权
标题翻译：控制装置的电动助力转向和控制方法研究电动助力转向
公开(公告)号：EP3067251A1
公开(公告)日：2016-09-14
申请号：EP13897075.1
申请日：2013-11-08
申请人： Mitsubishi Electric Corporation
发明人： TODA, Taizo , OKADA, Jiro
IPC分类号： B62D5/04 , B62D6/00
CPC分类号： B62D5/046 , B62D5/0487
摘要： An initial check is executed individually on each group of a plurality of groups constituted by a plurality of multiphase windings (3a, 3b) of a motor (3) and a plurality of inverter circuits (9a, 9b) corresponding respectively thereto, opening/closing control is executed on a plurality of relays (6a, 6b) in accordance with an implementation result of the initial check so that respective timings at which power is supplied to the plurality of inverter circuits are offset, and drive control is executed on the plurality of inverter circuits in accordance with the implementation result of the initial check so that respective currents passed through the plurality of multiphase windings are offset.
摘要翻译：初始检查被单独执行对每个组由多相绕组的多个（3A，3B）的电动机（3）和逆变器电路的多个（9A，9B）分别对应于此，开/关构成组的多个控制被执行在中继上的雅舞蹈有多个（6A，6B）与所述初始校验所以没在哪个功率respectivement定时被提供给逆变器电路的所述多个执行结果被抵消，和驱动控制被执行上的多元性在与初始校验所以没respectivement电流通过多相绕组的多元性传递的执行结果雅舞蹈逆变器电路上偏移。

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