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1. 发明专利

JP2009280102A Steering controlling device for vehicle with four-wheeled steering mechanism 有权
标题翻译：具有四轮转向机构的车辆转向控制装置
公开(公告)号：JP2009280102A
公开(公告)日：2009-12-03
申请号：JP2008134735
申请日：2008-05-22
申请人： Toyota Central R&D Labs Inc , Toyota Motor Corp , トヨタ自動車株式会社 , 株式会社豊田中央研究所
发明人： NISHIKAWA TOMOHISA , HATTORI YOSHIKAZU , ASAI SHOJI
IPC分类号： B62D6/00 , B62D7/14 , B62D101/00 , B62D103/00 , B62D111/00 , B62D113/00 , B62D137/00
摘要： PROBLEM TO BE SOLVED: To provide a steering controlling device for a four-wheeled steering vehicle in which a rear wheel steering control is corrected in such a way that the vehicle can be moved sufficiently in a lateral direction of the vehicle when a driver wants to move it substantially in the lateral direction in the case of an emergency escape under a condition of in phase steering between the front and rear wheels.
SOLUTION: A four-wheel steering controlling device for a vehicle is characterized in that the same comprises a rear wheel steering controlling unit for use in controlling a rear wheel steering angle in such a way that the rear wheels are steered in respect to the front wheels under the same phase or opposite phase in response to some driving conditions of the vehicle, and a desired moving distance determining unit for detecting a state in which the vehicle should be moved in its lateral direction and for determining a desired moving distance in a lateral direction, and when the state in which the vehicle should be moved in the lateral direction is detected, the rear wheels are steered in the opposite phase in respect to the front wheels and the steering for the rear wheels under the same phase is delayed for a period determined in response to the desired moving distance.
COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：提供一种用于四轮转向车辆的转向控制装置，其中后轮转向控制被校正，使得当车辆能够在车辆的横向方向上被充分地移动时在前轮和后轮之间的同相转向的情况下，在紧急逃生的情况下，驾驶员希望在横向上基本上移动它。解决方案：一种用于车辆的四轮转向控制装置的特征在于，其特征在于包括用于控制后轮转向角的后轮转向控制单元，使得后轮相对于响应于车辆的一些驾驶状况而在相同相位或相反相位下的前轮，以及期望的移动距离确定单元，用于检测车辆在其横向方向上应该移动的状态，并且用于确定期望的移动距离横向，并且当检测到车辆在横向方向上移动的状态时，后轮相对于前轮以相反的相位转向，相同相位的后轮的转向被延迟响应于期望的移动距离而确定的周期。版权所有（C）2010，JPO＆INPIT

2. 发明专利

JP2010280313A Steering transmission ratio variable type steering device for vehicles 有权
标题翻译：用于车辆的变速传动比可变型转向装置
公开(公告)号：JP2010280313A
公开(公告)日：2010-12-16
申请号：JP2009135969
申请日：2009-06-05
申请人： Toyota Motor Corp , トヨタ自動車株式会社
发明人： TAKASHIMA KYO , NAKATSU CHIKATOSHI , LIMPIBUNTERNG THEERAWAT , NISHIKAWA TOMOHISA , FUJITA YOSHITAKA
IPC分类号： B62D6/00 , B62D5/04 , B62D7/14 , B62D101/00 , B62D113/00 , B62D119/00
摘要： PROBLEM TO BE SOLVED: To reduce driver's discomfort feeling at the time of steering operation caused by a certain offset left in a steering device after a steering transmission ratio is changed by a steering transmission ratio variable type steering device. SOLUTION: In the case that an offset state occurs under a specified control for changing a steering transmission ratio by the steering transmission ratio variable type steering device 14 (S180 to 200), a steering position of a steering wheel 20 where the specified control is terminated is defined as a reference steering position, one of the two steering regions at both sides of the reference steering position that is the same side as that of the offset in respect to a vehicle straight forwarding position of the steering wheel 20 is defined as a first steering region and a steering transmission ratio under a zero offset is defined as a standard steering transmission ratio. In the case when a driver performs a steering operation at the first steering region after completion of the specified control (S160), a desired steering gear ratio Rst is made smaller than its standard value (S210) to cause the steering transmission ratio to be larger than the standard steering transmission ratio. COPYRIGHT: (C)2011,JPO&INPIT
摘要翻译：要解决的问题：在转向传动比可变型转向装置改变转向传动比之后，减少在转向装置中留下的一定偏差引起的转向操作时驾驶员的不适感。解决方案：在通过转向传动比可变型转向装置14（S180至200）改变转向传动比的指定控制下发生偏移状态的情况下，指定的方向盘20的转向位置控制终止被定义为参考转向位置，在基准转向位置的两侧的与转向盘20的车辆直行进位置的偏移量相同侧的两个转向区域中的一个被定义作为第一转向区域和零偏移处的转向传动比被定义为标准转向传动比。在驾驶员在规定的控制完成后在第一转向区域进行转向操作的情况下（S160），使期望的转向齿轮比Rst小于其标准值（S210），使转向传动比变大比标准转向传动比。版权所有（C）2011，JPO＆INPIT

3. 发明专利

JP2011079442A Steering device 有权
标题翻译：转向装置
公开(公告)号：JP2011079442A
公开(公告)日：2011-04-21
申请号：JP2009233695
申请日：2009-10-07
申请人： Toyota Motor Corp , トヨタ自動車株式会社
发明人： NISHIKAWA TOMOHISA
IPC分类号： B62D6/00 , B60G17/015 , B60G17/0195 , B60G21/055 , B62D5/04 , B62D101/00 , B62D111/00 , B62D113/00 , B62D119/00 , B62D137/00
摘要： PROBLEM TO BE SOLVED: To provide a steering device suppressing imparting of unnatural feeling in relation to steering feeling to a driver. SOLUTION: This steering device 2 is provided in a vehicle 1 including a roll rigidity control means capable of controlling at least either one of roll rigidity on a front wheel 11 side and roll rigidity on a rear wheel 12 side and variably setting a ratio of the roll rigidity on the front wheel 11 side to the roll rigidity on the rear wheel 12 side by the control. The steering device 2 outputs assist force for assisting steering force to be inputted in an operation member 15 for steering by the driver and turns the front wheel 11 mechanically connected to the operation member by the steering force and the assist force. The assist force is changed based on the ratio of the roll rigidity. COPYRIGHT: (C)2011,JPO&INPIT
摘要翻译：要解决的问题：提供一种抑制对驾驶员的转向感觉的不自然感觉的转向装置。解决方案：该转向装置2设置在车辆1中，该车辆1包括能够控制前轮11侧的侧倾刚性和后轮12侧的侧倾刚性中的至少一个的辊刚性控制装置，并且可变地设定通过控制，前轮11侧的侧倾刚性与后轮12侧的侧倾刚度的比率。转向装置2输出用于辅助转向力输入的辅助力，用于驾驶员转向操作构件15，并通过转向力和辅助力将前轮11机械地连接到操作构件。基于辊刚度的比例来改变辅助力。版权所有（C）2011，JPO＆INPIT

4. 发明专利

JP2009166524A Steering control device of vehicle equipped with four-wheel steering mechanism 有权
标题翻译：配有四轮转向机构的车辆转向控制装置
公开(公告)号：JP2009166524A
公开(公告)日：2009-07-30
申请号：JP2008003756
申请日：2008-01-10
申请人： Toyota Motor Corp , トヨタ自動車株式会社
发明人： NISHIKAWA TOMOHISA
IPC分类号： B62D6/00 , B62D5/04 , B62D7/14 , B62D101/00 , B62D103/00 , B62D111/00 , B62D113/00 , B62D137/00
摘要： PROBLEM TO BE SOLVED: To avoid difficulty of acquiring and estimating a track of a vehicle and an increase in a possibility that the vehicle comes into contact with an ambient obstacle caused by a difference in tracks between when the vehicle retreats and advances in the vehicle steered by 4 wheels in advance and 2 wheels in retreat.
SOLUTION: This four-wheel steering control device of the vehicle includes a traveling direction detection part for detecting the advancing direction of the vehicle, and a storage part for storing that the vehicle retreats; when the retreat of the vehicle is detected, controls a rear-wheel steering device to set the steering angle of the rear wheels to zero and, when the retreat of the vehicle is stored by the storage means, controls the rear-wheel steering device to retain the steering angle of the rear wheels zero till predetermined conditions are satisfied.
COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：为了避免获取和估计车辆的轨迹的困难，并且增加车辆与车辆退避并前进之间的轨道差异导致的与周围障碍物接触的可能性车辆预先由4个车轮转向，2个车轮撤退。解决方案：车辆的四轮转向控制装置包括用于检测车辆前进方向的行驶方向检测部和用于存储车辆后退的收纳部; 当检测到车辆的后退时，控制后轮转向装置将后轮的转向角设定为零，并且当通过存储装置存储车辆的后退时，将后轮转向装置控制为将后轮的转向角保持零，直到满足预定条件。版权所有（C）2009，JPO＆INPIT

5. 发明专利

JP2004243947A Method for adjusting movable amount of worm shaft and gear reducer for electric power steering device 有权
公开(公告)号：JP2004243947A
公开(公告)日：2004-09-02
申请号：JP2003037086
申请日：2003-02-14
申请人： Koyo Seiko Co Ltd , Toyota Motor Corp , トヨタ自動車株式会社 , 光洋精工株式会社
发明人： TANAKA HAJIME , YAMADA NAOTAKE , NISHIKAWA TOMOHISA , YONETANI TAKEAKI
IPC分类号： B62D5/04 , B62D5/24 , F16H1/16
CPC分类号： B62D5/0409 , F16C19/06 , F16C25/083 , F16C2361/61 , F16H55/24 , F16H57/039 , F16H2057/0213 , F16H2057/0221 , F16H2057/125 , Y10T477/10
摘要： PROBLEM TO BE SOLVED: To assure a movable amount of an appropriate worm shaft (or a worm) in a structure for supporting the worm shaft through a resilient member. SOLUTION: This invention relates to a method for adjusting a movable amount so as to adjust a movable amount of a worm shaft 52 in a gear reducer 40 for an electric power steering device where the worm shaft 52 is movably supported through a resilient member 82 in a direction directed toward a rotating shaft. This method comprises a first step in which the worm shaft 52 is moved to each of both sides in a direction X directed toward the rotating shaft to its maximum limit before assembling the worm shaft 52 having a worm 44 formed to be engaged with a worm wheel 42 to the output shaft 52 of a motor 50; a second step for measuring a displacement of the worm shaft 52 during the first step; a third step for calculating the movable amount of the worm shaft 52 in response to the result of measurement of the second step; and a fourth step for adjusting the movable amount of the worm shaft 52 in response to the result of calculation of the third step. COPYRIGHT: (C)2004,JPO&NCIPI

6. 发明专利

JP2011201366A Controller for vehicle 审中-公开
标题翻译：车辆控制器
公开(公告)号：JP2011201366A
公开(公告)日：2011-10-13
申请号：JP2010068824
申请日：2010-03-24
申请人： Toyota Motor Corp , トヨタ自動車株式会社
发明人： NARITA TETSUHIRO , TANIMOTO MITSUTAKA , NISHIKAWA TOMOHISA , TAKASHIMA KYO , LIMPIBUNTERNG THEERAWAT , TSUCHIYA YOSHIAKI
IPC分类号： B60W30/12 , B60T8/1755 , B60W10/00 , B60W10/04 , B60W10/06 , B60W10/18 , B60W10/188 , B60W10/20 , B60W30/00 , B60W40/12 , B62D5/04 , B62D6/00 , B62D113/00 , B62D119/00
摘要： PROBLEM TO BE SOLVED: To quickly and accurately estimate a steering reaction force transmitted from a steering wheel.SOLUTION: A unit (100) for controlling a vehicle (10) includes: a steering angle varying means (200) for changing the steering angle of at least one of a front wheel and a rear wheel; and a drive/brake force varying means (600) for changing a drive/brake force difference of the right/left wheels of at least one of the front wheel and the rear wheel. The unit is provided with: a setting means for setting a plurality of target state quantities corresponding to target motion states of the vehicle; a motion control means for controlling the steering angle varying means and the drive/brake force varying means according to a plurality of the set target state quantities so that the motion state of the vehicle can be set to the target motion state; and an estimation means for estimating the steering reaction force on the basis of a plurality of elements among the plurality of set target state quantities and the steering angle of at least one of the front wheel and the rear wheel corresponding to the set target state quantities and the driving/braking force difference of the right/left wheels of at least one of the front wheel and the rear wheel corresponding to the set target state quantities.
摘要翻译：要解决的问题：快速准确地估计从方向盘传递的转向反作用力。解决方案：一种用于控制车辆（10）的单元（100），包括：转向角改变装置（200），用于改变转向角前轮和后轮中的至少一个; 以及用于改变前轮和后轮中的至少一个的左/右车轮的驱动/制动力差的驱动/制动力变化装置（600）。该单元设置有：用于设定与车辆的目标运动状态相对应的多个目标状态量的设定装置; 运动控制装置，用于根据多个设定的目标状态量控制转向角可变装置和驱动/制动力改变装置，使得可以将车辆的运动状态设置为目标运动状态; 以及估计装置，用于基于多个设定目标状态量中的多个元素和与设定的目标状态量对应的前轮和后轮中的至少一个的转向角来估计转向反作用力，以及前轮和后轮中的至少一个的左/右车轮的驱动/制动力差与设定的目标状态量对应。

7. 发明专利

JP2008094315A Steering control device for vehicle 有权
标题翻译：车辆转向控制装置
公开(公告)号：JP2008094315A
公开(公告)日：2008-04-24
申请号：JP2006280330
申请日：2006-10-13
申请人： Toyota Motor Corp , トヨタ自動車株式会社
发明人： NISHIKAWA TOMOHISA
IPC分类号： B62D6/00 , B62D7/14 , B62D101/00 , B62D111/00 , B62D113/00 , B62D137/00
CPC分类号： B60W30/12 , B60W10/20 , B60W30/16 , B62D1/28 , B62D5/008 , B62D6/002
摘要： PROBLEM TO BE SOLVED: To provide a steering control device for a vehicle capable of providing the sense of ease to the driver by stabilizing the vehicle during the automatic steering.
SOLUTION: This steering control device 10 can perform both automatic steering and manual steering. The steering control device comprises a CC/ECU30, ACC/ECU32, and LKA/ECU34 for setting a target automatic control amount according to the information on the behavior of the vehicle and the peripheral environment, A4WS/ECU18 for setting a target steering amount according to the manual steering amount and the target automatic control amount by the driver, and a front/steer/actuator 24 and a rear/steer/actuator 28 steered according to the target steering amount. The A4WS/ECU18 so sets, during the automatic steering, the target steering amount as to improve the responsiveness during lateral movement more than the responsiveness during turning. Since the vehicle can be stabilized during the automatic steering, the sense of ease can be provided to the driver.
COPYRIGHT: (C)2008,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装置，其能够通过在自动转向期间使车辆稳定来向驾驶员提供容易的感觉。
解决方案：该转向控制装置10可以执行自动转向和手动转向。转向控制装置包括：CC / ECU30，ACC / ECU32和LKA / ECU34，用于根据关于车辆的行为和周围环境的信息设置目标自动控制量; A4WS / ECU18，用于根据驾驶员的手动转向量和目标自动控制量，以及根据目标转向量转向的前/转向/致动器24和后/转向/致动器28。 A4WS / ECU18在自动转向期间设定目标转向量，以提高横向移动期间的响应性超过转弯时的响应性。由于车辆能够在自动转向期间稳定，所以可以向司机提供容易的感觉。版权所有（C）2008，JPO＆INPIT

8. 发明专利

JP2011207313A Control device for vehicle 有权
标题翻译：车辆控制装置
公开(公告)号：JP2011207313A
公开(公告)日：2011-10-20
申请号：JP2010076208
申请日：2010-03-29
申请人： Toyota Motor Corp , トヨタ自動車株式会社
发明人： TANIMOTO MITSUTAKA , NISHIKAWA TOMOHISA , TAKASHIMA KYO , NARITA TETSUHIRO , LIMPIBUNTERNG THEERAWAT , TSUCHIYA YOSHIAKI
IPC分类号： B60W30/12 , B60W10/04 , B60W10/06 , B60W10/08 , B60W10/18 , B60W10/184 , B60W10/20 , B62D5/04 , B62D6/00 , B62D7/14 , B62D101/00 , B62D113/00 , B62D119/00 , B62D137/00
摘要： PROBLEM TO BE SOLVED: To maintain a vehicle in a target motion state while suppressing the generation of a yaw rate.SOLUTION: A device (100) for controlling a vehicle (10) includes: a steering angle varying means (400) for changing the steering angle of front wheels (FR, FL) or rear wheels (RR, RL) independently of a driver' operation that promotes a change in the steering angle; and driving/braking force varying means (300, 600) for generating a right and left driving/braking power difference about each of the front wheels and the rear wheels. Further, the device (100) includes: a first setting means for setting the target value of a plurality of first state amounts specifying parallel movement to achieve parallel movement; and a second setting means for, on the basis of a vehicle motion model specifying a relative relation between the preliminarily set first state amounts and a plurality of second state amounts that correlate with each of the steering angle and the right and left driving/braking power difference, and the target value of the plurality of set first state amounts, setting the target value of those second state amounts to achieve the parallel movement.
摘要翻译：要解决的问题：为了将车辆保持在目标运动状态，同时抑制横摆率的产生。解决方案：一种用于控制车辆（10）的装置（100）包括：转向角变化装置（400），用于改变独立于促进转向角变化的驾驶员操作，前轮（FR，FL）或后轮（RR，RL）的转向角度; 以及驱动/制动力变化装置（300,600），用于产生关于每个前轮和后轮的左右驱动/制动功率差。此外，装置（100）包括：第一设定装置，用于设定指定平行移动的多个第一状态量的目标值，以实现平行移动; 以及第二设定装置，用于根据指定预先设定的第一状态量与多个第二状态量之间的相对关系的车辆运动模型，该第二状态量与转向角和左右驾驶/制动力差异和多个设定的第一状态量的目标值，设定那些第二状态量的目标值以实现平行移动。

9. 发明专利

JP2013129262A Steering assist control device for four-wheel steering vehicle 审中-公开
标题翻译：用于四轮转向车辆的转向辅助控制装置
公开(公告)号：JP2013129262A
公开(公告)日：2013-07-04
申请号：JP2011278892
申请日：2011-12-20
申请人： Toyota Motor Corp , トヨタ自動車株式会社
发明人： NISHIKAWA TOMOHISA
IPC分类号： B62D6/00 , B62D5/04 , B62D7/14
摘要： PROBLEM TO BE SOLVED: To provide a steering assist control device for a four-wheel steering vehicle which reduces a risk that a driver feels uncomfortable in a steering feeling when a turning response of the vehicle is changed as a steering control law is switched.SOLUTION: In the steering assist control device for the four-wheel steering vehicle where the steering control law of at least a rear wheel is changed according to a traveling state, the steering control law of the rear wheel is set to a first control law when a curvature of a road surface is large, the steering control law of the rear wheel is set to a second control law when the curvature of the road surface is small, and when the steering control law of the rear wheel is set to the second control law, assist characteristics are changed to characteristics different from a case where the steering control law of the rear wheel is set to the first control law, so that the assist characteristics of the steering assist device are changed according to the change of the steering characteristics associated with the change of the steering control law of the rear wheel.
摘要翻译：要解决的问题：提供一种用于四轮转向车辆的转向辅助控制装置，其降低当车辆的转向响应随着转向控制律被切换而改变时驾驶员在转向感觉中不舒服的风险。在根据行驶状态改变至少后轮的转向控制规律的四轮转向车辆的转向辅助控制装置中，当将后轮的转向控制规律设定为第一控制规律时路面的曲率大时，当路面的曲率小时，后轮的转向控制规律被设定为第二控制规律，并且当后轮的转向控制律被设定为第二控制律时辅助特性被改变为与将后轮的转向控制规则设定为第一控制规则的情况不同的特性，从而转向辅助装置ar的辅助特性 e根据与后轮的转向控制规律的变化相关联的转向特性的变化而改变。

10. 发明专利

JP2008222150A Steering control device 有权
标题翻译：转向控制装置
公开(公告)号：JP2008222150A
公开(公告)日：2008-09-25
申请号：JP2007066610
申请日：2007-03-15
申请人： Toyota Motor Corp , トヨタ自動車株式会社
发明人： NISHIKAWA TOMOHISA
IPC分类号： B62D6/00 , B62D5/04 , B62D7/14 , B62D103/00 , B62D107/00 , B62D109/00 , B62D111/00 , B62D113/00 , B62D119/00 , B62D125/00 , B62D137/00
摘要： PROBLEM TO BE SOLVED: To provide a steering control device capable of reducing a sense of incongruity of a driver when assisting the steering by the driver.
SOLUTION: The steering control device 20 includes a target locus setting unit 21 and a steering characteristic setting unit 22. The target locus setting unit 21 sets the targeted advancing locus of a vehicle based on information on an object for avoidance present in the advancing direction of the vehicle and at least one of the direction of a face of and the sight line of the driver of the vehicle. The steering characteristic setting unit 22 sets the steering characteristic of the vehicle based on the targeted advancing locus of the vehicle set by the target locus setting unit 21.
COPYRIGHT: (C)2008,JPO&INPIT
摘要翻译：要解决的问题：提供一种当辅助驾驶员的转向时能够减轻驾驶员的不协调感的转向控制装置。转向控制装置20包括目标轨迹设定单元21和转向特性设定单元22.目标轨迹设定单元21基于关于回避对象的信息，设定车辆的目标行进轨迹车辆的前进方向以及车辆司机的面部方向和视线中的至少一方。转向特性设定单元22基于由目标轨迹设定单元21设定的车辆的目标行进轨迹来设定车辆的转向特性。（C）版权所有（C）2008，JPO＆INPIT

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