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1. 发明专利

JP2010188977A Steering control device for vehicle and steering control method for vehicle 有权
标题翻译：用于车辆的转向控制装置和车辆的转向控制方法
公开(公告)号：JP2010188977A
公开(公告)日：2010-09-02
申请号：JP2009038256
申请日：2009-02-20
申请人： Nissan Motor Co Ltd , 日産自動車株式会社
发明人： YOSHIZAWA MASAHIKO , KIMURA TAKESHI , KOJIMA MASACHIKA
IPC分类号： B62D6/00 , B62D5/04 , B62D101/00 , B62D119/00 , B62D137/00
摘要： PROBLEM TO BE SOLVED: To provide a steering control device for a vehicle and a steering control method for a vehicle that properly suppress drifting, even if the cant of a road surface varies.
SOLUTION: In a state of a driver holding a steering wheel 6 and the vehicle traveling straight, an electric-current command value Ia of a steering auxiliary control is corrected so that the steering force (steering torque T) of the driver becomes zero (steering torque zeroing control). When the driver puts her/his hand on the steering wheel 6 and the vehicle is in a non-straight traveling state, the electric-current command value Ia of the steering auxiliary control is corrected so that the deviation amount (yaw rate Y) of the vehicle becomes zero (yaw rate zeroing control).
COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：即使路面的倾斜度发生变化，也可以提供一种用于车辆的转向控制装置和适当地抑制漂移的车辆的转向控制方法。解决方案：在驾驶员保持方向盘6和车辆直行的状态下，对转向辅助控制器的电流指令值Ia进行校正，使得驾驶员的转向力（转向转矩T）变为零（转向转矩调零控制）。当驾驶员将手放在方向盘6上并且车辆处于非直线行驶状态时，转向辅助控制的电流指令值Ia被校正为使得偏转量（偏航率Y）车辆变为零（偏航率归零控制）。版权所有（C）2010，JPO＆INPIT

2. 发明专利

JP2008162453A Steering angle control device for vehicle, automobile, and steering angle control method for vehicle 审中-公开
标题翻译：用于车辆，汽车的转向角控制装置和用于车辆的角度控制方法
公开(公告)号：JP2008162453A
公开(公告)日：2008-07-17
申请号：JP2006355194
申请日：2006-12-28
申请人： Nissan Motor Co Ltd , 日産自動車株式会社
发明人： YOSHIZAWA MASAHIKO , KOJIMA MASACHIKA
IPC分类号： B62D6/00
摘要： PROBLEM TO BE SOLVED: To neutralize a steering angle of a wheel, which is a control object, more properly.
SOLUTION: When a failure occurs to a steering angle imparting mechanism 2, if a steering angle of a rear wheel 10 is changed to a direction away from a neutral position by the steering angle imparting mechanism 2, the steering angle imparting mechanism 2 is made into a non-operable locked condition. If the steering angle of the rear wheel 10 is changed to a direction getting close to the neutral position by the steering angle imparting mechanism 2, the steering angle imparting mechanism 2 is made into an unlocked condition, in which the lock is canceled. Therefore, only a change into a direction, in which the steering angle gets close to the neutral position by the steering angle imparting mechanism 2, is allowed, so that the steering angle of the rear wheel 10, which is a control object, is recovered to the neutral position more properly.
COPYRIGHT: (C)2008,JPO&INPIT
摘要翻译：要解决的问题：更适当地中和作为控制对象的车轮的转向角。解决方案：当转向角赋予机构2发生故障时，如果通过转向角赋予机构2将后轮10的转向角改变成远离中立位置的方向，则转向角赋予机构2 被制成不可操作的锁定状态。如果通过转向角赋予机构2使后轮10的转向角度变成接近中立位置的方向，则转向角赋予机构2成为解除锁定的解锁状态。因此，仅允许通过转向角赋予机构2使转向角接近中立位置的方向的变化，从而回收作为控制对象的后轮10的转向角度更适中的位置。版权所有（C）2008，JPO＆INPIT

3. 发明专利

JP2011246079A Damping control device of vehicle 有权
标题翻译：车辆阻尼控制装置
公开(公告)号：JP2011246079A
公开(公告)日：2011-12-08
申请号：JP2010123775
申请日：2010-05-31
申请人： Nissan Motor Co Ltd , 日産自動車株式会社
发明人： OTA MITSUNORI , YOSHIZAWA MASAHIKO , SHIOZAWA HIROKI , KOBAYASHI YOSUKE , ITO AKIHIRO
IPC分类号： B60W30/00 , B60L15/20 , B60W10/04 , B60W10/06 , B60W10/18 , B60W10/184 , B60W30/18 , F16F15/02
CPC分类号： B60W10/04 , B60L2270/145 , B60W10/06 , B60W10/18 , B60W10/188 , B60W30/20 , B60W2520/28 , B60W2540/10 , B60W2540/12 , B60W2710/0666 , B60W2710/182 , B60W2720/16 , F16F15/002 , Y02T10/7258
摘要： PROBLEM TO BE SOLVED: To provide a damping control device of a vehicle that can calculate damping torque according to a travel situation.SOLUTION: The damping control device includes: a driving and braking torque generator to make wheels generate the driving and braking torque; a first correction torque calculator to calculate the first correction torque which may suppress vibration of vehicle on spring based on wheel speed; a second correction torque calculator to calculate the second correction torque which may suppress vibration of the vehicle on a spring based on the driving and braking torque; an input signal processor which calculates a correction torque command value by applying a predetermined weighting to the first correction torque and the second correction torque based on the traveling state and outputs it to the driving and braking torque generator, and performs the predetermined weighting based on a traveling state to the first correction torque which may suppress vibration of the vehicle on the spring based on wheel speed, and to the second correction torque which may suppress vibration of the vehicle on the spring based on the driving and braking torque.
摘要翻译：要解决的问题：提供可以根据行驶情况计算阻尼扭矩的车辆的阻尼控制装置。解决方案：阻尼控制装置包括：驱动和制动扭矩发生器，用于使车轮产生驱动和制动扭矩; 第一校正转矩计算器，用于计算可以基于车轮速度抑制车辆在弹簧上的振动的第一校正转矩; 第二校正扭矩计算器，用于计算可以基于所述驱动和制动转矩来抑制所述车辆在弹簧上的振动的所述第二校正转矩; 输入信号处理器，其通过基于行驶状态对第一校正转矩和第二校正转矩施加预定加权来计算校正转矩指令值，并将其输出到驱动和制动转矩发生器，并且基于行驶状态到可以基于车轮速度抑制车辆在弹簧上的振动的第一校正转矩，以及可以基于驱动和制动转矩抑制车辆在弹簧上的振动的第二校正转矩。版权所有（C）2012，JPO＆INPIT

4. 发明专利

JP2007131184A Steering controller for vehicle 审中-公开
标题翻译：车辆转向控制器
公开(公告)号：JP2007131184A
公开(公告)日：2007-05-31
申请号：JP2005326825
申请日：2005-11-11
申请人： Nissan Motor Co Ltd , 日産自動車株式会社
发明人： YOSHIZAWA MASAHIKO , YASUNO YOSHIKI
IPC分类号： B62D6/00 , B62D101/00 , B62D113/00
摘要： PROBLEM TO BE SOLVED: To provide a steering controller for a vehicle, which can improve the work responsiveness of a lock mechanism. SOLUTION: The steering controller for the vehicle is provided with an actuator capable of imparting an auxiliary steering angle to a steering wheel, and a control means to output the drive command of the actuator depending on the traveling state. The steering controller for the vehicle comprises a semi-lock means to permit the actuator operation only in the drive direction of the drive command depending on the drive command of the control means. COPYRIGHT: (C)2007,JPO&INPIT
摘要翻译：要解决的问题：提供一种用于车辆的转向控制器，其可以提高锁定机构的工作响应性。解决方案：车辆的转向控制器设置有能够向方向盘赋予辅助转向角的致动器，以及根据行驶状态输出致动器的驱动指令的控制装置。用于车辆的转向控制器包括半锁定装置，其允许仅根据控制装置的驱动命令在驱动命令的驱动方向上进行致动器操作。版权所有（C）2007，JPO＆INPIT

5. 发明专利

JP2011247180A Vibration damping control device for vehicle 有权
标题翻译：用于车辆的振动阻尼控制装置
公开(公告)号：JP2011247180A
公开(公告)日：2011-12-08
申请号：JP2010121322
申请日：2010-05-27
申请人： Nissan Motor Co Ltd , 日産自動車株式会社
发明人： KOBAYASHI YOSUKE , KIMURA TAKESHI , SHIOZAWA HIROKI , OTA MITSUNORI , SASAKI HIROKI , ITO AKIHIRO , YOSHIZAWA MASAHIKO
IPC分类号： F02D29/02
CPC分类号： B60W20/15 , B60L2240/423 , B60W10/04 , B60W10/08 , B60W10/18 , B60W20/00 , B60W20/11 , B60W30/02 , B60W30/20 , B60W2030/041 , B60W2050/0024 , B60W2050/0033 , B60W2520/30 , B60W2710/083 , Y02T10/642
摘要： PROBLEM TO BE SOLVED: To provide a vibration damping control device for a vehicle where the frequency of executing vibration damping control is increased by preventing the occurrence of hunting when the vibration damping control is reverted to normal control.SOLUTION: A vibration damping control device for a vehicle calculates correction torque which can suppress vibration on the spring of a vehicle body. Upon outputting a correction torque command value to a brake/drive torque generating means, the vibration damping control device outputs a hunting period correction torque command value which is smaller than a normal period correction torque command value, when the magnitude of the correction torque is at a prescribed magnitude or larger and continues for a prescribed time period. Subsequently, when the magnitude of the correction torque is at a prescribed magnitude or smaller and continues for a first prescribed time period, the output of the correction torque command value is reverted to the normal period correction torque command value from the hunting period correction torque command value.
摘要翻译：要解决的问题：提供一种用于车辆的减振控制装置，其中当减振控制被恢复到正常控制时，通过防止发生振动来提高执行减振控制的频率。解决方案：用于车辆的减振控制装置计算能够抑制车身弹簧的振动的校正扭矩。当向制动/驱动转矩发生装置输出校正转矩指令值时，当校正扭矩的大小为正时，减振控制装置输出小于正常周期校正转矩指令值的寻呼周期校正转矩指令值规定量级以上，并持续规定的时间。随后，当校正转矩的大小处于规定的幅度或更小并且持续第一规定时间段时，校正转矩指令值的输出从回扫周期校正转矩指令返回到正常周期校正转矩指令值值。版权所有（C）2012，JPO＆INPIT

6. 发明专利

JP2010280381A Vehicular steering device 有权
标题翻译：车辆转向装置
公开(公告)号：JP2010280381A
公开(公告)日：2010-12-16
申请号：JP2010171285
申请日：2010-07-30
申请人： Nissan Motor Co Ltd , 日産自動車株式会社
发明人： YOSHIZAWA MASAHIKO , SAO MASAYUKI
IPC分类号： B62D6/00 , B62D5/04 , B62D101/00 , B62D113/00 , B62D117/00 , B62D119/00 , F16H1/32 , F16H48/00 , F16H48/20
摘要： PROBLEM TO BE SOLVED: To provide a vehicular steering device which can correct any neutral deviation without any sense of incongruity to a driver.
SOLUTION: The vehicular steering device in which a plurality of rotating elements connected to each other via the predetermined reduction gear ratio are indicated on the common velocity diagram, and a steering wheel, a first motor 20a, a second motor 53 and a turning output element for turning steered wheels are connected to each other, includes a target steering state quantity computation unit 122a for setting the target steering state quantity of the steering wheel, a target turning state quantity computation unit 122b for setting the target turning state quantity of the turning output element based on the target steering state quantity, and a target motor control quantity computation unit for setting the control quantity of the first motor 20a and the second motor 53 based on the target steering state quantity set by the target steering state quantity computation unit 122a and the target turning state quantity set by the target turning state quantity computation unit 122b.
COPYRIGHT: (C)2011,JPO&INPIT
摘要翻译：要解决的问题：提供一种车辆转向装置，其可以校正任何中性偏差，而不会对驾驶员产生不协调的感觉。解决方案：在公共速度图上表示其中经由预定减速比彼此连接的多个旋转元件的车辆转向装置，方向盘，第一马达20a，第二马达53和包括用于设定方向盘的目标转向状态量的目标转向状态量计算单元122a，用于设定转向轮的目标转向状态量的目标转向状态量计算单元122b，基于目标转向状态量的转向输出元件，以及用于基于由目标转向状态量计算设定的目标转向状态量来设定第一电动机20a和第二电动机53的控制量的目标电动机控制量计算单元单元122a和由目标转弯状态量计算单元122b设定的目标转弯状态量。版权所有（C）2011，JPO＆INPIT

7. 发明专利

JP2010215191A Vehicular steering device and vehicular steering method 有权
标题翻译：车辆转向装置和车辆转向方法
公开(公告)号：JP2010215191A
公开(公告)日：2010-09-30
申请号：JP2009066926
申请日：2009-03-18
申请人： Nissan Motor Co Ltd , 日産自動車株式会社
发明人： YOSHIZAWA MASAHIKO , KUBOTA MASAHIRO , UEDA TAISUKE , UCHIDA KO , MORI HIROSHI , SEKI KENICHI
IPC分类号： B62D6/00 , B62D5/04 , B62D101/00 , B62D119/00 , B62D137/00
摘要： PROBLEM TO BE SOLVED: To provide a vehicular steering device and a vehicular steering method, capable of accurately suppressing one-side-drift of a vehicle without providing a yaw rate sensor.
SOLUTION: The history of wheel speed V
FL -V
RR detected by wheel speed sensors 16FL-16RR is obtained, and statistically processed, thereby estimating a detection error of the wheel speed V
FL -V
RR generated due to the difference of right and left tire movement radii. Then, the wheel speed V
FL -V
RR detected by wheel speed sensors 16FL-16RR is corrected by the estimated detection error. On the basis of the corrected V
FL -V
RR , a yaw rate ϕ of a vehicle is estimated, and on the basis of the estimated yaw rate ϕ, the traveling straight ahead determination of the vehicle is carried out. One-side-drift suppressing control is carried out, which adds a one-side-drift steering assisting torque in a direction canceling steering torque Tp to a steering portion, when the vehicle travels straight ahead.
COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：提供一种车辆转向装置和车辆转向方法，能够准确地抑制车辆的一侧漂移而不提供横摆率传感器。
解决方案：获得由车轮速度传感器16FL-16RR检测的车轮速度V FL -V RR 的历史，并进行统计处理，由此估计检测误差由于左右轮胎运动半径的差异而产生的车轮速度V FL -V RR 。然后，由轮速传感器16FL-16RR检测到的车轮速度V -V RR 通过估计的检测误差来校正。基于经修正的V -V RR ，估计车辆的偏航率φ，并且基于估计的横摆角速度φ，行驶直线执行车辆的前进确定。当车辆直行前进时，执行单侧漂移抑制控制，其将朝向取向转向转矩Tp的方向的单侧漂移转向辅助转矩增加到转向部分。版权所有（C）2010，JPO＆INPIT

8. 发明专利

JP2010195231A Steering control device for vehicle and steering control method for vehicle 有权
标题翻译：用于车辆的转向控制装置和车辆的转向控制方法
公开(公告)号：JP2010195231A
公开(公告)日：2010-09-09
申请号：JP2009043127
申请日：2009-02-25
申请人： Nissan Motor Co Ltd , 日産自動車株式会社
发明人： YOSHIZAWA MASAHIKO , KIMURA TAKESHI , KOJIMA MASACHIKA
IPC分类号： B62D6/00 , B62D5/04 , B62D117/00 , B62D119/00 , B62D133/00 , B62D137/00
摘要： PROBLEM TO BE SOLVED: To provide a steering control device for a vehicle capable of properly restraining a one-sided flow by detecting an abnormal input value used for a one-sided restraining control, and a steering control method for a vehicle. SOLUTION: A one-sided restraining control for restraining a one-sided flow of a vehicle is performed based on a steering torque T detected by a torque sensor 11, and a yaw rate Y detected by a yaw rate sensor 15. At that time, whether a steering torque detection value T and a yaw rate detection value Y are abnormal (whether an error is included or not) is detected based on a shift of the steering torque detection value T, the yaw rate detection value Y and a current command value Ib of the one-sided flow restraining control. Then, when abnormality occurs, that detection value is corrected. COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：提供一种能够通过检测用于单侧约束控制的异常输入值和车辆的转向控制方法来适当地限制单侧流动的车辆的转向控制装置。解决方案：基于由转矩传感器11检测到的转向扭矩T和由横摆率传感器15检测到的横摆率Y，执行用于抑制车辆单侧流动的单侧限制控制。那时，基于转向转矩检测值T，横摆率检测值Y和偏航速度检测值Y的偏移来检测转向转矩检测值T和横摆率检测值Y是否异常（是否包括误差）单向流限制控制的电流指令值Ib。然后，当异常发生时，该检测值被校正。版权所有（C）2010，JPO＆INPIT

9. 发明专利

JP2008296739A Vehicle steering device, automobile and vehicle steering method 审中-公开
标题翻译：车辆转向装置，汽车和车辆转向方法
公开(公告)号：JP2008296739A
公开(公告)日：2008-12-11
申请号：JP2007145185
申请日：2007-05-31
申请人： Nissan Motor Co Ltd , 日産自動車株式会社
发明人： KUBOTA MASAHIRO , MORI HIROSHI , KOJIMA MASACHIKA , YOSHIZAWA MASAHIKO
IPC分类号： B62D6/00 , B62D101/00 , B62D137/00
摘要： PROBLEM TO BE SOLVED: To suppress a transverse drifting amount during traveling on a bank road by increasing an absolute value of a steering assist torque as a difference between a neutral speed and a vehicle speed becomes greater. SOLUTION: The vehicle steering device calculates the steering assist torque (compensated assist instruction value) for suppressing a transverse motion of a vehicle caused by disturbance, and applies the calculated steering assist torque to a steering system (causes a motor to output the calculated steering assist torque) based on a vehicle speed and a turning condition. Thus, during traveling on a bank road, by increasing an absolute value of the steering assist torque as a difference between a neutral speed at which a force acting downward on the bank road due to gravity and a force acting upward on the bank road due to a centrifugal force are balanced and the vehicle speed becomes greater, the transverse drifting amount during traveling on the bank road can be suppressed, for example, even when the neutral speed and the vehicle speed are different from each other. COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：通过增加作为中立速度和车辆速度之间的差的转向辅助转矩的绝对值来抑制在行驶中的横向漂移量变大。解决方案：车辆转向装置计算用于抑制由扰动引起的车辆的横向运动的转向辅助转矩（补偿辅助指令值），并将计算出的转向辅助转矩施加到转向系统（使电动机输出计算出的转向辅助转矩）。因此，在银行道路行驶时，通过将转向辅助转矩的绝对值提高为作为向下作用在堤坝道路上的力的中立速度与由于重力作用向上作用的力的中性速度之差离心力平衡，车速变大，例如即使在中立速度和车速彼此不同的情况下也能够抑制在行驶路上行驶时的横向漂移量。版权所有（C）2009，JPO＆INPIT

10. 发明专利

JP2008013118A Vehicular steering device, automobile, vehicle steering method and steering neutral position setting method 审中-公开
标题翻译：车辆转向装置，汽车，车辆转向方法和转向中性位置设定方法
公开(公告)号：JP2008013118A
公开(公告)日：2008-01-24
申请号：JP2006188131
申请日：2006-07-07
申请人： Nissan Motor Co Ltd , 日産自動車株式会社
发明人： YOSHIZAWA MASAHIKO , KUBOTA MASAHIRO , SHIOZAWA HIROKI , KOJIMA MASACHIKA , MORI HIROSHI , YOKOTE MASATSUGU , NAGARA NAMI , SASAKI MAKIKO
IPC分类号： B62D6/00 , B62D111/00 , B62D113/00 , B62D117/00 , B62D119/00 , B62D137/00
摘要： PROBLEM TO BE SOLVED: To more certainly suppress one side flow of a vehicle.
SOLUTION: When it is determined that the vehicle linearly travels (step S101 "YES"), a group of detected steering torque is statistically processed in every steering direction (step S102-S106) and one side flow suppression control for giving one side flow suppression steering assistant force according to the statistic processing result is executed (step S107 and S108). Therefore, when a steering direction is switched, steering torque and a steering angle are stagnated by friction of a steering system, and a peak in the steering torque in steering in a left direction and a peak in the steering torque in steering in a right direction are generated on a frequency distribution in which the steering torque is rounded up after it is determined that the vehicle is linearly traveled. Even if large difference is generated on the magnitude (frequency of steering in the left direction and frequency of steering in the right direction) of the two peaks, more suitable one side flow suppression steering assistant force can be set. As a result, one side flow of the vehicle can be more certainly suppressed.
COPYRIGHT: (C)2008,JPO&INPIT
摘要翻译：要解决的问题：更确定地抑制车辆的一侧流动。解决方案：当确定车辆线性行进时（步骤S101为“是”），在每个转向方向上统计处理一组检测到的转向扭矩（步骤S102〜S106），并且一个侧流抑制控制执行根据统计处理结果的侧流量抑制转向辅助力（步骤S107和S108）。因此，当转向方向切换时，转向转矩和转向角度由于转向系统的摩擦而停滞，并且在左转方向的转向转矩中的峰值和右转向转向中的转向转矩的峰值在确定车辆线性行驶之后，在转向扭矩被向上舍入的频率分布上产生。即使在两个峰值的大小（左右方向的转向频率和右转向频率）上产生大的差异的情况下，也可以设定更合适的一侧流动抑制转向辅助力。结果，能够更可靠地抑制车辆的一侧流动。版权所有（C）2008，JPO＆INPIT

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