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1. 发明授权

EP3035523B1 MOTOR CONTROL DEVICE, ELECTRIC POWER STEERING DEVICE USING SAME, AND VEHICLE 有权
标题翻译：电动机控制装置，使用该电动机的电动转向装置以及车辆
公开(公告)号：EP3035523B1
公开(公告)日：2018-04-25
申请号：EP13891490.8
申请日：2013-12-13
申请人： NSK Ltd.
发明人： MORI, Kenji , TAGAMI, Kotaro , SUGAWARA, Hiroki , SHINOHARA, Shigeo , SEKINE, Takaaki , SENBA, Takeshi , ENDO, Shuji
IPC分类号： H02P29/00 , B62D5/04 , G01R31/34 , H02H7/08 , H02P21/22 , H02P29/032
CPC分类号： B62D5/0487 , B62D5/04 , B62D5/0463 , B62D5/0466 , B62D5/0484 , G01R31/34 , G01R31/343 , G05B9/02 , H02H7/0844 , H02P5/74 , H02P21/22 , H02P27/06 , H02P29/032
摘要： A motor controller, an electric power steering device using the motor controller, and a vehicle using the motor controller are provided. Even if an abnormality occurs at a motor drive circuit or a multiphase electric motor, the motor controller is capable of continuously driving and controlling the electric motor. The motor controller includes plural hardware sets configured to operate in a normal state and to output a motor current, a control operation device configured to control the plurality of hardware sets commonly, an electric motor configured to operate with motor current output from each of the plurality of hardware sets, and an abnormality diagnosis unit configured to diagnose an abnormality of each of the plurality of hardware sets. In the control device, when there is an abnormal hardware set that has been diagnosed by the abnormality diagnosis unit, the control operation device stops an operation of the abnormal hardware set that has been diagnosed, and continues driving of the electric motor with a normal hardware set.

2. 发明授权

EP2921374B1 STEERING INTENTION DETERMINATION DEVICE, VEHICLE CONTROL DEVICE, STEERING ASSIST DEVICE, AND STEERING ASSIST SYSTEM 失效
标题翻译：转向意图确定装置，车辆控制装置，转向辅助装置和转向辅助系统
公开(公告)号：EP2921374B1
公开(公告)日：2018-04-25
申请号：EP15160150.7
申请日：2015-03-20
申请人： Toyota Jidosha Kabushiki Kaisha
发明人： Kunihiro, Yoji , Kojo, Takahiro , Suzuki, Yoshiaki , Kudo, Yoshio , Ueyama, Masao , Goto, Takeshi , Kimura, Yukihide
IPC分类号： B62D5/04
CPC分类号： B62D5/0463 , B62D5/0466 , B62D5/0481 , B62D6/04
摘要： A steering intention determination device includes a calculation unit (1) that calculates a value based on the product of a steering angular velocity and a steering torque and the product of the time differential values of a steering torque and the steering angle, and a determination unit (1) that determines that the driver has a turn-and-steer steering intention in a case where the value is equal to or greater than a predetermined value, determine that the driver has a steering holding intention in a case where the value is less than the predetermined value and the absolute value of the steering angular velocity is less than a predetermined angular velocity, and determine that the driver has a switchback steering intention in a case where the value is less than the predetermined value and the absolute value of the steering angular velocity is equal to or greater than the predetermined angular velocity.

3. 发明公开

EP3299259A1 STEERING CONTROL DEVICE AND STEERING CONTROL METHOD 有权
标题翻译：转向控制装置和转向控制方法
公开(公告)号：EP3299259A1
公开(公告)日：2018-03-28
申请号：EP16799958.0
申请日：2016-05-20
申请人： DENSO CORPORATION
发明人： FUJINO, Rui , TOKORO, Hirotaka
IPC分类号： B62D6/00 , B60W50/08 , B62D113/00
CPC分类号： B62D6/001 , B60N2/002 , B60W50/08 , B62D1/286 , B62D5/0466 , B62D6/007 , B62D6/02 , B62D15/0285
摘要： A steering control device (1) that can set and cancel an automatic driving mode includes a steering control unit (5), a cancellation instruction detection unit (3), a stop detection unit (3), and a steering angle reduction unit (5). The steering control unit (5) controls a steering angle in the automatic driving mode so that a vehicle travels along an intended route. The cancellation instruction detection unit (3) detects a cancellation instruction to cancel the automatic driving mode. The stop detection unit (3) detects a stop of the vehicle. The steering angle reduction unit (5) reduces the steering angle set by the steering control unit, if the cancellation instruction detection unit detects the cancellation instruction and the stop detection unit detects the stop of the vehicle.
摘要翻译：能够设定和取消自动驾驶模式的驾驶控制装置（1）具有转向控制部（5），取消指示检测部（3），停止检测部（3）以及转向角降低部（5 ）。转向控制单元（5）在自动驾驶模式下控制转向角度，使得车辆沿预定路线行驶。取消指示检测部（3）检测取消自动驾驶模式的取消指示。停止检测单元（3）检测车辆的停止。如果取消指令检测单元检测到取消指令并且停止检测单元检测到车辆停止，则转向角减小单元（5）减小由转向控制单元设置的转向角。

4. 发明授权

EP2647546B1 VEHICLE STEERING CONTROL APPARATUS 失效
标题翻译：车辆转向控制装置
公开(公告)号：EP2647546B1
公开(公告)日：2018-01-24
申请号：EP10860129.5
申请日：2010-12-01
申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA
发明人： TANIMOTO, Mitsutaka , KOJO, Takahiro , TSUCHIYA, Yoshiaki , FUJITA, Yoshitaka
IPC分类号： B62D6/00 , B62D5/04 , B62D101/00 , B62D113/00 , B62D117/00 , B62D137/00 , B62D15/02
CPC分类号： B62D5/0466 , B62D5/046 , B62D5/0481 , B62D5/049 , B62D15/0245
摘要： A vehicle steering control apparatus in a vehicle, which is provided with: a tire steer angle varying apparatus which is configured to change a tire steer angle independently of steering wheel operation; and a tire steer angle equivalent value detecting device which is configured to detect a tire steer angle equivalent value corresponding to the tire steer angle, is provided with: a learning device which is configured to learn a steering wheel angle neutral point; an abnormality determining device which is configured to determine whether or not the tire steer angle equivalent value detecting device is in an abnormal state; a disregarding device which is configured to disregard the learned steering wheel angle neutral point if it is determined that the tire steer angle equivalent value detecting device is in the abnormal state; a controlling device which is configured to control the tire steer angle varying apparatus such that the tire steer angle is returned to a tire steer angle neutral point if it is determined that the tire steer angle equivalent value detecting device is in the abnormal state; and an initializing device which is configured to initialize the tire steer angle equivalent value detecting device after the tire steer angle is returned to the tire steer angle neutral point, wherein the leaning device restarts the learning of the steering wheel angle after the tire steer angle equivalent value detecting device is initialized.

5. 发明公开

EP3241720A1 ELECTRICAL POWER STEERING DEVICE 失效
标题翻译：电动转向装置
公开(公告)号：EP3241720A1
公开(公告)日：2017-11-08
申请号：EP15883321.0
申请日：2015-10-30
申请人： NSK Ltd.
发明人： KOJIMA, Atsushi
IPC分类号： B62D6/00 , G01B21/22 , B62D101/00
CPC分类号： B62D6/002 , B62D5/0463 , B62D5/0466 , B62D15/024 , B62D15/025 , G01B21/22
摘要： [Problem]
An object of the present invention is to provide an electric power steering apparatus for calculating a front-wheel estimated steering angle based on right and left front wheel speeds, calculating a rear-wheel estimated steering angle based on right and left rear wheel speeds, calculating a 4-wheel estimated steering angle by using the front-wheel estimated steering angle and the rear-wheel estimated steering angle, and correcting a probability of the 4-wheel estimated steering angle or correcting an output of a control with the 4-wheel estimated steering angle by using the front-wheel estimated steering angle, the rear-wheel estimated steering angle and 4 wheel speeds, thereby preventing an irregular output.
[Means for Solving]
The present invention is an electric power steering apparatus which has a steering torque sensor to detect a steering torque, a current command value calculating section to calculate a current command value based on the steering torque, a motor to apply an assist torque, and a motor driving control section to drive and control the motor, comprises: a control function with an input steering angle; and a steering angle estimating/calculating section to calculate a front-wheel estimated steering angle and a rear-wheel estimated steering angle based on a 4 wheel speeds and calculate a 4-wheel estimated steering angle, wherein the 4-wheel estimated steering angle is used for a steering angle control.
摘要翻译：发明内容本发明的目的在于提供一种电动动力转向装置，该电动动力转向装置基于左右前轮速度计算前轮推定转向角，基于左右后轮计算后轮推定转向角通过使用前轮估计转向角和后轮估计转向角来计算4轮估计转向角，并且校正4轮估计转向角的概率或者用4来校正控制的输出通过使用前轮估计转向角度，后轮估计转向角度和4轮速度来估计转向角度，由此防止不规则输出。用于解决问题的手段本发明是一种电动助力转向装置，其具有检测转向转矩的转向转矩传感器，基于转向转矩计算电流指令值的电流指令值计算部，施加辅助的电动机转矩以及用于驱动和控制电动机的电动机驱动控制部分，包括：具有输入转向角的控制功能; 以及转向角估计/计算部分，用于基于4个车轮速度计算前轮估计转向角和后轮估计转向角，并且计算4轮估计转向角，其中4轮估计转向角是用于转向角控制。

6. 发明公开

EP3184404A2 VEHICLE STEERING DEVICE 有权
标题翻译：车辆转向装置
公开(公告)号：EP3184404A2
公开(公告)日：2017-06-28
申请号：EP16205755.8
申请日：2016-12-21
申请人： JTEKT CORPORATION
发明人： WILHELM, Frederic , TAMURA, Tsutomu , FUCHS, Robert , MOREILLON, Maxime
IPC分类号： B62D6/08
CPC分类号： B62D6/10 , B62D3/04 , B62D3/12 , B62D5/0409 , B62D5/0466 , B62D6/08 , G01L3/10
摘要： A vehicle steering device includes a driver torque estimation unit (51) that includes a driver torque estimation observer, a low-pass filter (52), and a hands-on/off determination unit (53). The driver torque estimation observer estimates driver torque (Tsw) applied to a steering wheel by a driver on the basis of a detected value that includes at least torsion bar torque (Ttb) detected by a torque sensor (11) and the rotational angle of an electric motor detected by a rotational angle sensor (25). The low-pass filter (52) performs a low-pass filtering process on the estimated driver torque. The hands-on/off determination unit (53) determines whether in a hands-on state or a hands-off state on the basis of the driver torque after being subjected to the low-pass filtering process.
摘要翻译：本发明提供一种车辆用转向装置，其具有包含驾驶员转矩推定观测器，低通滤波器（52）以及手动/断开判断部（53）的驾驶员转矩推定部（51）。驾驶员转矩估计观测器基于至少包括由扭矩传感器（11）检测的扭杆扭矩（Ttb）和扭矩传感器（11）的旋转角度的检测值来估计驾驶员施加到方向盘的驾驶员扭矩（Tsw）电动机由旋转角度传感器（25）检测。低通滤波器（52）对估计的驾驶员扭矩执行低通滤波处理。手动/关闭确定单元（53）基于经受低通滤波处理之后的驾驶员扭矩来确定是处于手动状态还是手动切断状态。

7. 发明公开

EP3031701A4 ELECTRIC POWER STEERING DEVICE 有权
标题翻译： ELEKTRISCHE SERVOLENKVORRICHTUNG
公开(公告)号：EP3031701A4
公开(公告)日：2017-03-29
申请号：EP15826341
申请日：2015-05-13
申请人： NSK LTD
发明人： KITAZUME TETSUYA
IPC分类号： B62D6/00 , B62D101/00 , B62D113/00 , B62D119/00
CPC分类号： B62D5/0466 , B62D6/00
摘要： [Problem] An object of the present invention is to provide an electric power steering apparatus that is capable of realizing smooth steering wheel return without the uncomfortable feeling even if a driver intervenes in steering in a going straight state. [Means for solving the problem] An electric power steering apparatus comprising: a steering wheel return control section that calculates a steering wheel return control current by a steering angle, the steering torque, the vehicle speed and a steering angle velocity, and drives the motor by a compensation current command value made by adding the steering wheel return control current to the current command value, wherein the steering wheel return control section comprises an angular acceleration calculating section that calculates an angular acceleration corresponding to the steering angle, the vehicle speed and the steering torque, a correcting section that corrects a double integral value of the angular acceleration by a square of an angle velocity corresponding to the steering torque, a target steering angle velocity setting section that sets a target steering angle velocity based on a square root of a correction value from the correcting section, a steering wheel return control gain calculating section that calculates a steering wheel return control gain by multiplying a deviation between the target steering angle velocity and an actual steering angle velocity by a vehicle speed gain and a steering torque gain, and a steering wheel return control current calculating section that performs at least one control calculation among a P-control calculation, an I-control calculation and a D-control calculation to the steering wheel return control gain, and calculates the steering wheel return control gain that is limited by means of the vehicle speed gain and the steering torque gain.
摘要翻译：发明内容本发明的目的在于提供一种电动助力转向装置，即使驾驶员以直行状态进行转向操作，也能够实现顺畅的方向盘复原而不会产生不适感。用于解决课题的手段一种电动式动力转向装置，其特征在于，具备：方向盘返回控制部，其通过转向角，转向转矩，车速和转向角速度来计算方向盘返回控制电流，驱动电动机通过将方向盘返回控制电流与电流指令值相加而得到的补偿电流指令值，其中方向盘返回控制部分包括角加速度计算部分，该角加速度计算部分计算与转向角对应的角加速度，车速和转向转矩;校正部，其将所述角加速度的二次积分值校正与所述转向转矩对应的角速度的平方;目标转向角速度设定部，其基于所述目标转向角速度的平方根来自修正部分的修正值，方向盘返回控制增益计算部分，其通过将目标转向角速度与实际转向角速度之间的偏差乘以车速增益和转向转矩增益来计算方向盘返回控制增益;以及方向盘返回控制电流计算部分，其至少执行对方向盘返回控制增益进行P控制计算，I控制计算和D控制计算中的一个控制计算，并且计算借助车速增益和转向限制的方向盘返回控制增益转矩增益。

8. 发明公开

EP2985207A4 STEERING CONTROL DEVICE, AND STEERING CONTROL METHOD 失效
标题翻译：转向控制装置及转向控制方法
公开(公告)号：EP2985207A4
公开(公告)日：2017-01-11
申请号：EP13882023
申请日：2013-04-08
申请人： MITSUBISHI ELECTRIC CORP
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.

9. 发明授权

EP2792574B1 Electric power steering system 有权
公开(公告)号：EP2792574B1
公开(公告)日：2016-08-31
申请号：EP14164654.7
申请日：2014-04-14
申请人： JTEKT Corporation
发明人： Kita, Masayuki , Aono, Shinya
IPC分类号： B62D5/04 , B62D15/02 , B62D3/12
CPC分类号： B62D3/126 , B62D5/0409 , B62D5/0421 , B62D5/046 , B62D5/0466 , B62D15/0235 , B62D15/0245

10. 发明公开

EP3031701A1 ELECTRIC POWER STEERING DEVICE 有权
标题翻译：电动转向装置
公开(公告)号：EP3031701A1
公开(公告)日：2016-06-15
申请号：EP15826341.8
申请日：2015-05-13
申请人： NSK Ltd.
发明人： KITAZUME Tetsuya
IPC分类号： B62D6/00 , B62D101/00 , B62D113/00 , B62D119/00
CPC分类号： B62D5/0466 , B62D6/00
摘要： [Problem]
An object of the present invention is to provide an electric power steering apparatus that is capable of realizing smooth steering wheel return without the uncomfortable feeling even if a driver intervenes in steering in a going straight state.
[Means for solving the problem]
An electric power steering apparatus comprising: a steering wheel return control section that calculates a steering wheel return control current by a steering angle, the steering torque, the vehicle speed and a steering angle velocity, and drives the motor by a compensation current command value made by adding the steering wheel return control current to the current command value, wherein the steering wheel return control section comprises an angular acceleration calculating section that calculates an angular acceleration corresponding to the steering angle, the vehicle speed and the steering torque, a correcting section that corrects a double integral value of the angular acceleration by a square of an angle velocity corresponding to the steering torque, a target steering angle velocity setting section that sets a target steering angle velocity based on a square root of a correction value from the correcting section, a steering wheel return control gain calculating section that calculates a steering wheel return control gain by multiplying a deviation between the target steering angle velocity and an actual steering angle velocity by a vehicle speed gain and a steering torque gain, and a steering wheel return control current calculating section that performs at least one control calculation among a P-control calculation, an I-control calculation and a D-control calculation to the steering wheel return control gain, and calculates the steering wheel return control gain that is limited by means of the vehicle speed gain and the steering torque gain.
摘要翻译：发明内容本发明的目的在于提供一种电动助力转向装置，即使驾驶员以直行状态进行转向操作，也能够实现顺畅的方向盘复原而不会产生不适感。用于解决课题的手段一种电动式动力转向装置，其特征在于，具备：方向盘返回控制部，其通过转向角，转向转矩，车速和转向角速度来计算方向盘返回控制电流，驱动电动机通过将方向盘返回控制电流与电流指令值相加而得到的补偿电流指令值，其中方向盘返回控制部分包括角加速度计算部分，该角加速度计算部分计算与转向角对应的角加速度，车速和转向转矩;校正部，其将所述角加速度的二次积分值校正与所述转向转矩对应的角速度的平方;目标转向角速度设定部，其基于所述目标转向角速度的平方根来自修正部分的修正值，方向盘返回控制增益计算部分，其通过将目标转向角速度与实际转向角速度之间的偏差乘以车速增益和转向转矩增益来计算方向盘返回控制增益;以及方向盘返回控制电流计算部分，其至少执行对方向盘返回控制增益进行P控制计算，I控制计算和D控制计算中的一个控制计算，并且计算借助车速增益和转向限制的方向盘返回控制增益转矩增益。

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