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1. 发明授权

EP3147183B1 DRIVING SUPPORT DEVICE FOR VEHICLE 有权转让
标题翻译：驾驶汽车的支持装置
公开(公告)号：EP3147183B1
公开(公告)日：2018-04-11
申请号：EP16189039.7
申请日：2016-09-15
申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA
发明人： KUNIHIRO, Yoji , KUDO, Yoshio , KOJO, Takahiro , SUZUKI, Yoshiaki , UEYAMA, Masao , GOTO, Takeshi , KIMURA, Yukihide
IPC分类号： B62D15/02 , B62D5/04 , B62D6/00
CPC分类号： B62D6/002 , B62D5/0463 , B62D15/025
摘要： Provided is a driving support device, which is configured to: calculate a target steering angle (¸t) for allowing a vehicle to travel along a target course; set, as a reference steering angle (¸s), a steering angle (¸) when a difference between the steering angle and the target steering angle is small (S40); calculate an indication value (Idsi) indicating intention of a driver's steering operation based on a value being correlated to at least one of a first product of a corrected steering angle (¸-¸s) and a steering torque (T), a second product of a derivative (d¸) of the corrected steering angle and the steering torque, and a third product of the corrected steering angle and a derivative (dT) of the steering torque (S70); and correct the target steering angle based on the indication value so that a target driving support torque (Tdt) is corrected in accordance with the intention of the driver's steering operation (S100 and S120).

2. 发明公开

EP3147183A1 DRIVING SUPPORT DEVICE FOR VEHICLE 有权转让
标题翻译：爱德华·弗朗西斯
公开(公告)号：EP3147183A1
公开(公告)日：2017-03-29
申请号：EP16189039.7
申请日：2016-09-15
申请人： Toyota Jidosha Kabushiki Kaisha
发明人： KUNIHIRO, Yoji , KUDO, Yoshio , KOJO, Takahiro , SUZUKI, Yoshiaki , UEYAMA, Masao , GOTO, Takeshi , KIMURA, Yukihide
IPC分类号： B62D15/02
CPC分类号： B62D6/002 , B62D5/0463 , B62D15/025
摘要： Provided is a driving support device, which is configured to: calculate a target steering angle (θt) for allowing a vehicle to travel along a target course; set, as a reference steering angle (θs), a steering angle (θ) when a difference between the steering angle and the target steering angle is small (S40); calculate an indication value (Idsi) indicating intention of a driver's steering operation based on a value being correlated to at least one of a first product of a corrected steering angle (θ-θs) and a steering torque (T), a second product of a derivative (dθ) of the corrected steering angle and the steering torque, and a third product of the corrected steering angle and a derivative (dT) of the steering torque (S70); and correct the target steering angle based on the indication value so that a target driving support torque (Tdt) is corrected in accordance with the intention of the driver's steering operation (S100 and S120).
摘要翻译：提供一种驱动支撑装置，其被构造成：计算用于允许车辆沿着目标路线行进的目标转向角（¸t）; 当转向角和目标转向角之间的差小时，设定作为参考转向角（¸s）的转向角（¸）（S40）; 基于与修正后的转向角（¸-¸s）和转向转矩（T）的第一乘积中的至少一个相关的值来计算指示驾驶员转向操作的意图的指示值（Idsi），第二乘积修正转向角和转向转矩的导数（d¸）以及转向转矩的修正转向角和导数（dT）的第三乘积（S70）; 并且根据指示值来校正目标转向角，使得根据驾驶员转向操作的意图来校正目标驾驶支持力矩（Tdt）（S100和S120）。

3. 发明授权

EP2639139B1 STEERING DEVICE 有权
公开(公告)号：EP2639139B1
公开(公告)日：2015-08-26
申请号：EP11839766.0
申请日：2011-11-10
申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA
发明人： KUNIHIRO, Yoji , GOTO, Takeshi
IPC分类号： B62D6/00 , B62D101/00 , B62D113/00 , B62D119/00
CPC分类号： B62D5/046 , B62D5/0463 , B62D5/0481 , B62D6/007

4. 发明公开

EP1892176A1 STEERING SYSTEM OF VEHICLE 审中-公开
标题翻译： LENKSYSTEMFÜREIN FAHRZEUG
公开(公告)号：EP1892176A1
公开(公告)日：2008-02-27
申请号：EP06756959.0
申请日：2006-05-29
申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA
发明人： GOTO, Takeshi , KUROSAWA, Ryuuichi
IPC分类号： B62D6/00 , B62D5/04
CPC分类号： B62D6/003 , B62D5/008
摘要： An electronic control unit reads a side slip angle β of a vehicle body in step S11. Next, in step S12, the electronic control unit reads a correction amount N entered by a driver. Next, in step S15, the electronic control unit calculates a target steering angle δa by subtracting a correction term (N·β) from a rotation amount (K1·θ) of a steering output shaft 13, which has a predetermined relation with a rotation amount of a steering input shaft 12, in order to reduce a lateral force generated in the vehicle due to the side slip angle β of the vehicle body. Subsequently, in steps S16 and S17, the electronic control unit drives and controls an electric motor of a variable-gear-ratio actuator until the rotation amount of the steering output shaft reaches the target steering angle δa.
摘要翻译：在步骤S11中，电子控制单元读取车体的侧滑角²。接下来，在步骤S12中，电子控制单元读取驾驶员输入的修正量N。接下来，在步骤S15中，电子控制单元通过从与a的预定关系的转向输出轴13的旋转量（K1·¸）中减去校正项（N·²）来计算目标转向角α 转向输入轴12的旋转量，以便由于车体的侧滑角²而减小车辆产生的横向力。随后，在步骤S16和S17中，电子控制单元驱动并控制可变齿轮比致动器的电动机，直到转向输出轴的旋转量达到目标转向角“a”为止。

5. 发明公开

EP3041752A1 STEERING APPARATUS AND STEERING CONTROLLER 失效转让
标题翻译： LENKVORRICHTUNG UND LENKSTEUERUNG
公开(公告)号：EP3041752A1
公开(公告)日：2016-07-13
申请号：EP14787250.1
申请日：2014-09-03
申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA
发明人： KIMURA, Yukihide , GOTO, Takeshi , KUNIHIRO, Yoji
IPC分类号： B65D5/04
CPC分类号： B62D5/0463 , B62D5/0472
摘要： A controller of a steering apparatus includes a calculating unit that calculates a correction assistance quantity based on a steering angular velocity coefficient and a torque coefficient, a steering angular velocity coefficient setting unit that sets the steering angular velocity coefficient depending on a steering angular velocity and that sets the steering angular velocity coefficient to become larger as a feedback quantity of a negative feedback unit becomes larger, and a torque coefficient setting unit that sets the torque coefficient depending on a steering torque and that sets the torque coefficient to become larger as the feedback quantity of the negative feedback unit becomes larger. The feedback quantity of the torque coefficient setting unit when the steering torque is in a predetermined high-frequency range is larger than the feedback quantity of the steering angular velocity coefficient setting unit when the steering angular velocity is in a predetermined high-frequency range.
摘要翻译：转向装置的控制器包括：计算单元，其基于转向角速度系数和转矩系数来计算校正辅助量;转向角速度系数设定单元，其根据转向角速度设定转向角速度系数;以及当负反馈单元的反馈量变大时，将转向角速度系数设定为变大;以及转矩系数设定单元，其根据转向转矩设定转矩系数，并且将转矩系数设定为较大，作为反馈量的负反馈单元变大。当转向转矩处于预定的高频范围时，转矩系数设定单元的反馈量大于转向角速度系数设定单元的反馈量时，转向角速度处于规定的高频范围。

6. 发明公开

EP3015342A1 STEERING ASSIST APPARATUS FOR VEHICLE 失效
标题翻译： SERVOLENKVORRICHTUNGFÜREIN KRAFTFAHRZEUG
公开(公告)号：EP3015342A1
公开(公告)日：2016-05-04
申请号：EP15190646.8
申请日：2015-10-20
申请人： Toyota Jidosha Kabushiki Kaisha
发明人： KIMURA, Yukihide , KUNIHIRO, Yoji , GOTO, Takeshi
IPC分类号： B62D5/04
CPC分类号： B62D5/0463
摘要： Provided is a steering assist apparatus (10) for a vehicle, including a transmission device (22) configured to transmit a force and a displacement relating to steering between a steering wheel (18) and steered wheels (20L, 20R), a power steering device (12) configured to apply an assist torque to the transmission device, and a control device (50). When assuming the steering wheel, the transmission device, the power steering device, and the steered wheels as a steering system, the control device is configured to calculate, based on a product of a steering angular velocity and a derivative of the steering angular velocity, a product of the steering angular velocity and a steering torque, and a product of a steering angle and a derivative of the steering torque, a change rate (dDE) of an energy of the steering system, and control the assist torque based on the change rate of the energy of the steering system.
摘要翻译：提供一种用于车辆的转向辅助装置（10），包括：传动装置（22），用于传递与方向盘（18）和转向轮（20L，20R）之间的转向相关的力和位移;动力转向被配置为向所述传动装置施加辅助扭矩的装置（12）以及控制装置（50）。作为转向系统的方向盘，传动装置，动力转向装置和转向轮，当控制装置基于转向角速度与转向角速度的导数的乘积，转向角速度和转向转矩的乘积以及转向角和转向转矩的导数，转向系统的能量的变化率（dDE）和基于变化的辅助转矩的乘积转向系统的能量转速。

7. 发明公开

EP2639139A1 STEERING DEVICE 有权
标题翻译：转向装置
公开(公告)号：EP2639139A1
公开(公告)日：2013-09-18
申请号：EP11839766.0
申请日：2011-11-10
申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA
发明人： KUNIHIRO, Yoji , GOTO, Takeshi
IPC分类号： B62D6/00 , B62D101/00 , B62D113/00 , B62D119/00
CPC分类号： B62D5/046 , B62D5/0463 , B62D5/0481 , B62D6/007
摘要： A steering apparatus is provided with: a specifying device which is configured to specify an environment of a road on which a vehicle travels, on the basis of a manipulated amount of the steering wheel manipulated by a driver and a change of the manipulated amount in a predetermined period.
摘要翻译：本发明提供一种转向装置，该转向装置具备：指定单元，其基于驾驶员操作的方向盘的操作量和操作量的变化，确定车辆行驶的道路的环境; 预定时间段。

8. 发明公开

EP1925531A1 STEERING DEVICE OF VEHICLE 有权
标题翻译： LENKVORRICHTUNGFÜREIN FAHRZEUG
公开(公告)号：EP1925531A1
公开(公告)日：2008-05-28
申请号：EP06756958.2
申请日：2006-05-29
申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA
发明人： GOTO, Takeshi , ONUMA, Yutaka , KUROSAWA, Ryuuichi
IPC分类号： B62D6/00 , B62D5/04
CPC分类号： B62D6/008 , B62D6/003
摘要： An electronic control unit inputs a side slip angle β of a vehicle body in step S11. Next, in step S13, the unit calculates, while using the side slip angle β of the vehicle body, a dynamic zero point δo for reducing a lateral force generated in the vehicle due to the side slip angle β of the vehicle body. Next, in step S14, the unit calculates a steering angle δa, which is represented by the difference between the dynamic zero point δo and a steering angle δ detected by a steering angle sensor. Next, in step S15, the unit calculates a reaction torque Tz having a predetermined relation with the steering angle δa. Subsequently, in step S16, the unit drives and controls an electric motor to generate the calculated reaction torque Tz. Thus, the unit guides a driver to a proper steering-wheel rotating direction.
摘要翻译：在步骤S11中，电子控制单元输入车体的侧滑角²。接下来，在步骤S13中，在使用车体的侧滑角²的情况下，由于车体的侧滑角²，因此，为了减少车辆产生的横向力，动作零点“0”在步骤S13中进行计算。接下来，在步骤S14中，该单元计算由转向角传感器检测到的动态零点“0和转向角”之间的差表示的转向角“a”。接下来，在步骤S15中，该单元计算与转向角'a具有预定关系的反作用转矩Tz。随后，在步骤S16中，单元驱动和控制电动机以产生计算出的反作用转矩Tz。因此，该单元将驾驶员引导到正确的方向盘旋转方向。

9. 发明授权

EP3041752B1 STEERING APPARATUS AND STEERING CONTROLLER 失效转让
标题翻译：转向装置和转向控制器
公开(公告)号：EP3041752B1
公开(公告)日：2018-04-25
申请号：EP14787250.1
申请日：2014-09-03
申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA
发明人： KIMURA, Yukihide , GOTO, Takeshi , KUNIHIRO, Yoji
IPC分类号： B62D5/04
CPC分类号： B62D5/0463 , B62D5/0472
摘要： A controller of a steering apparatus includes a calculating unit that calculates a correction assistance quantity based on a steering angular velocity coefficient and a torque coefficient, a steering angular velocity coefficient setting unit that sets the steering angular velocity coefficient depending on a steering angular velocity and that sets the steering angular velocity coefficient to become larger as a feedback quantity of a negative feedback unit becomes larger, and a torque coefficient setting unit that sets the torque coefficient depending on a steering torque and that sets the torque coefficient to become larger as the feedback quantity of the negative feedback unit becomes larger. The feedback quantity of the torque coefficient setting unit when the steering torque is in a predetermined high-frequency range is larger than the feedback quantity of the steering angular velocity coefficient setting unit when the steering angular velocity is in a predetermined high-frequency range.

10. 发明公开

EP3517986A3 INSPECTION METHOD AND MANUFACTURING METHOD OF ELECTRICAL STORAGE DEVICE 有权
公开(公告)号：EP3517986A3
公开(公告)日：2019-08-21
申请号：EP18204554.2
申请日：2018-11-06
申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA
发明人： KOBAYASHI, Kiwamu , GOTO, Takeshi
IPC分类号： G01R31/392 , G01R31/385 , G01R31/389
摘要： An inspection method of a present electrical storage device (1) includes: constituting a circuit (3) with the electrical storage device (1) being charged and a power supply (4), and passing a current (IB) by the power supply (4) to the circuit (3) in a direction of charging or discharging the electrical storage device (1); and in passing the current (IB), determining the quality of the electrical storage device (1) based on a converging state of the passing current (IB). In passing the current (IB), an output voltage (VS) of the power supply (4) is changed from an initial value with the passage of time.

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