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1. 发明专利

JP2007076584A Vehicular steering control device 审中-公开
标题翻译：车辆转向控制装置
公开(公告)号：JP2007076584A
公开(公告)日：2007-03-29
申请号：JP2005269798
申请日：2005-09-16
申请人： Toyota Motor Corp , トヨタ自動車株式会社
发明人： SUGITANI TATSUO , KUROSAWA RYUICHI
IPC分类号： B62D6/00 , B62D5/04 , B62D101/00 , B62D111/00 , B62D113/00 , B62D137/00
摘要： PROBLEM TO BE SOLVED: To provide a vehicular steering control device capable of correctly calculating the side slip angle of a vehicle body in a turning state of a vehicle irrespective of the traveling environment. SOLUTION: An electronic control unit 44 determines the target lateral acceleration Gd in Step S14 in a vehicle in a turning condition. Next, in Step S15, the roll angle ϕ generated in the vehicle as the vehicle is turned, and calculates the cornering powers Kf, Kr by using the determined target lateral acceleration Gd and the roll angle ϕ. Next, in Step S16, the yaw angular acceleration dγ/dt is calculated by using the turning angle δ detected by a turning angle sensor 33 and the calculated cornering powers Kf, Kf, and the side slip angle β of a vehicle body is calculated through the integration. Next, in Step S16, the target turning angle δa is calculated by using the calculated side slip angle β and cornering powers Kf, Kr. The side slip angle β can be correctly calculated, and the target turning angle δa for enhancing the behavior consistency can be calculated thereby. COPYRIGHT: (C)2007,JPO&INPIT
摘要翻译：解决的问题：提供一种车辆转向控制装置，能够在车辆的转动状态下正确计算车体的侧滑角，而与行驶环境无关。解决方案：电子控制单元44在转弯状态下确定车辆中的步骤S14中的目标横向加速度Gd。接下来，在步骤S15中，作为车辆的车辆中产生的侧倾角φ被转动，并且通过使用所确定的目标横向加速度Gd和侧倾角φ来计算转弯力Kf，Kr。接下来，在步骤S16中，通过使用由转向角传感器33检测出的转弯角度δ来计算偏航角加速度dγ/ dt，计算转弯功率Kf，Kf，车身的侧滑角β通过整合。接下来，在步骤S16中，通过使用计算出的侧滑角β和转弯力Kf，Kr来计算目标转轮角δa。可以正确地计算侧滑角β，并且由此可以计算用于增强行为一致性的目标转向角δa。版权所有（C）2007，JPO＆INPIT

2. 发明专利

JP2005335495A Vehicular steering device 有权
标题翻译：车辆转向装置
公开(公告)号：JP2005335495A
公开(公告)日：2005-12-08
申请号：JP2004155667
申请日：2004-05-26
申请人： Aisin Seiki Co Ltd , Toyota Motor Corp , アイシン精機株式会社 , トヨタ自動車株式会社
发明人： SUGITANI TATSUO , GOTO TAKESHI , KUROSAWA RYUICHI , KANDA TOSHIYUKI , TOUTSU KENJI
IPC分类号： B62D5/04 , B62D6/00 , B62D101/00 , B62D111/00 , B62D113/00 , B62D119/00
CPC分类号： B62D6/002
摘要： PROBLEM TO BE SOLVED: To provide a vehicular steering device capable of easily driving a vehicle by steering the wheel to the human perception characteristic over the entire vehicle speed range to the operation of a steering wheel by a driver. SOLUTION: The vehicular steering device performs the turning control of front wheels by the computer programming. A displacement-torque conversion unit 51 converts the steering angle θ into the steering torque Td in the exponential relationship. A torque-lateral acceleration conversion unit 52, a torque-yaw rate conversion unit 53 and a torque-turning curvature conversion unit 54 convert the steering torque Td into the estimated lateral acceleration Gd, the estimated yaw rate γd, and the estimated turning curvature ρd. Turning angle conversion units 55, 56, 57 calculate the target turning angles δg, δγ, δρ. A turning angle determination unit 58 determines the target turning angle δd out of the target turning angles δg, δγ, δρ according to the detected vehicle speed V. A turning control unit 60 performs the turning control of the turning wheel at the target turning angle δd. A driver can easily drive the vehicle over the entire vehicle speed range. COPYRIGHT: (C)2006,JPO&NCIPI
摘要翻译：要解决的问题：提供一种车辆转向装置，其能够通过在整个车速范围内通过驾驶员对方向盘的操作将车轮转向人感知特性而容易地驾驶车辆。
解决方案：车辆转向装置通过计算机编程执行前轮的转向控制。位移 - 转矩转换单元51以指数关系将转向角θ转换为转向转矩Td。转矩 - 横向加速度转换单元52，转矩 - 偏转率转换单元53和扭矩转弯曲率转换单元54将转向转矩Td转换成估计横向加速度Gd，估计横摆角速度γd和估计转弯曲率ρd 。转角变换部55,56,57计算目标转向角δg，δγ，δρ。转向角确定单元58根据检测到的车速V确定目标转向角δg，δγ，δρ之外的目标转向角δd。转向控制单元60以目标转向角δd执行转向轮的转弯控制。驾驶员可以轻松地在整个车辆速度范围内驾驶车辆。版权所有（C）2006，JPO＆NCIPI

3. 发明专利

JP2007076582A Vehicular steering device 有权
标题翻译：车辆转向装置
公开(公告)号：JP2007076582A
公开(公告)日：2007-03-29
申请号：JP2005269793
申请日：2005-09-16
申请人： Toyota Motor Corp , トヨタ自動車株式会社
发明人： GOTO TAKESHI , ONUMA YUTAKA , KUROSAWA RYUICHI
IPC分类号： B62D6/00 , B62D5/04 , B62D101/00 , B62D111/00 , B62D113/00 , B62D119/00
CPC分类号： B62D6/008 , B62D6/003
摘要： PROBLEM TO BE SOLVED: To provide a vehicular steering device for guiding the turning direction of a turning wheel for stabilizing the behavior when a vehicle makes a turn to a driver considering the side slip angle of a vehicle body applying during the turning state of the vehicle. SOLUTION: An electronic control unit 36 inputs the side slip angle β of a vehicle body in Step S11. Next, in Step S13, the dynamic zero point δ0 for reducing the lateral force generated on a vehicle attributable to the side slip angle β of the vehicle body is calculated by using the side slip angle β of the vehicle body. Next, in Step S14, the turning angle δa expressed by the difference between the turning angle δ detected by a turning angle sensor 33 and the dynamic zero point δ0 is calculated. Next, in Step S15, the reaction torque Tz in a predetermined relationship to the turning angle δa is calculated. In Step S16, an electric motor 23 is drive-controlled so that the calculated reaction torque Tz is generated. Thus, the adequate turning direction of a steering wheel 11 is guided to a driver. COPYRIGHT: (C)2007,JPO&INPIT
摘要翻译：要解决的问题：提供一种用于引导转向车轮的转向方向的车辆转向装置，用于在车辆在转弯状态期间施加的车体的侧滑角向驾驶员转弯时稳定行为的车辆。解决方案：电子控制单元36在步骤S11中输入车体的侧滑角β。接下来，在步骤S13中，通过使用车体的侧滑角β来计算用于减少由车身的侧滑角β归因于车辆的车辆产生的横向力的动态零点δ0。接下来，在步骤S14中，计算由转向角传感器33检测出的转弯角δ与动态零点δ0之间的差所表示的转角δa。接下来，在步骤S15中，计算与转向角δa成预定关系的反作用转矩Tz。在步骤S16中，驱动控制电动机23，从而产生计算出的反作用转矩Tz。因此，方向盘11的适当转动方向被引导到驾驶员。版权所有（C）2007，JPO＆INPIT

4. 发明专利

JP2005263081A Steering device of vehicle 有权
标题翻译：车辆转向装置
公开(公告)号：JP2005263081A
公开(公告)日：2005-09-29
申请号：JP2004080299
申请日：2004-03-19
申请人： Aisin Seiki Co Ltd , Toyota Motor Corp , アイシン精機株式会社 , トヨタ自動車株式会社
发明人： GOTO TAKESHI , KUROSAWA RYUICHI , TOUTSU KENJI , YAMADA DAISUKE
IPC分类号： B62D6/00 , B62D5/04 , B62D101/00 , B62D111/00 , B62D113/00 , B62D137/00
摘要： PROBLEM TO BE SOLVED: To provide a steering device of a vehicle to facilitate driving of the vehicle and stabilize the behavior of the vehicle in returning operation of the steering wheel. SOLUTION: A displacement-torque conversion part 41 converts a steering angle θ to a steering torque having exponential relationship to each other. A torque-lateral acceleration conversion part 42 converts a steering torque Td to a prospective lateral acceleration Gd having a power relationship. A turning angle conversion part 43 calculates a target turning angle δd requiring for the movement of the vehicle at the prospective lateral acceleration Gd. A turning control part 50 controls to turn a steered wheel to the target turning angle δd. On the other hand, the displacement-torque conversion part 61 converts the steering angle θ to a reaction torque Tz having exponential relationship. A return viscosity force calculation part 63 calculates a torque coefficient Tr to return the steering wheel 11 at a constant angular velocity. And a reaction force control part 60 turns the steering wheel 11 to the direction of a neutral position with a returning reaction force torque Tm obtained by multiplying the reaction torque Tz and the torque coefficient Tr. COPYRIGHT: (C)2005,JPO&NCIPI
摘要翻译：要解决的问题：提供一种车辆的转向装置，以便于驾驶车辆并且在返回方向盘操作时稳定车辆的行为。解决方案：位移 - 转矩转换部41将转向角θ转换为具有指数关系的转向转矩。转矩 - 横向加速度转换部42将转向转矩Td转换为具有功率关系的预期横向加速度Gd。转向角转换部43计算要求车辆在预期横向加速度Gd下移动的目标转向角δd。转向控制部50控制将转向轮转动到目标转向角δd。另一方面，位移 - 转矩转换部61将转向角θ转换成具有指数关系的反作用转矩Tz。返回粘度力计算部63计算以恒定角速度返回方向盘11的转矩系数Tr。反作用力控制部60通过将反作用转矩Tz和转矩系数Tr相乘得到的返回反力力矩Tm将方向盘11转动到中立位置的方向。版权所有（C）2005，JPO＆NCIPI

5. 发明专利

JP2005225365A Vehicular steering device 有权
标题翻译：车辆转向装置
公开(公告)号：JP2005225365A
公开(公告)日：2005-08-25
申请号：JP2004035991
申请日：2004-02-13
申请人： Aisin Seiki Co Ltd , Toyota Motor Corp , アイシン精機株式会社 , トヨタ自動車株式会社
发明人： GOTO TAKESHI , KUROSAWA RYUICHI , TOUTSU KENJI
IPC分类号： B62D6/00 , B62D5/04 , B62D101/00 , B62D111/00 , B62D113/00 , B62D119/00 , B62D137/00
摘要： PROBLEM TO BE SOLVED: To provide a vehicular steering device capable of performing simple driving by realizing the vehicular steering characteristic in a very low speed zone having excellent responsiveness. SOLUTION: An electronic control unit 35 calculates the turning angle δ of right and left front wheels FW1 and FW2 with respect to the steering angle θ input in a steering wheel 11 based on the proportional map to indicate the predetermined linear relationship if the vehicle speed V is equal to or lower than the predetermined value. The proportional map has a linear relationship between the maximum steering angle θmax capable of turning the steering wheel 11 and the maximum turning angle δmax capable of turning the right and left front wheels FW1 and FW2, and a driver can drive a vehicle at a very low speed. Further, the operation quantity of the steering wheel 11 by the driver is reduced, the right and left front wheels FW1 and FW2 can be turned with excellent responsiveness, and the vehicle can be easily driven at a very low speed. COPYRIGHT: (C)2005,JPO&NCIPI
摘要翻译：要解决的问题：提供一种能够通过在具有优异响应性的极低速区域中实现车辆转向特性来执行简单驾驶的车辆转向装置。解决方案：电子控制单元35基于比例图来计算左右前轮FW1和FW2相对于方向盘11中输入的转向角θ的转角δ，以指示预定的线性关系，如果车速V等于或低于预定值。比例图具有能够转向方向盘11的最大转向角θmax与能够转动左右前轮FW1和FW2的最大转向角δmax之间的线性关系，并且驾驶员能够以非常低的速度驾驶车辆速度。此外，由于驾驶员的方向盘11的操作量减少，所以能够以良好的响应性转动左右的前轮FW1，FW2，能够以非常低的速度容易地驱动车辆。版权所有（C）2005，JPO＆NCIPI

6. 发明专利

JP2006007843A Vehicle steering device 有权
标题翻译：车辆转向装置
公开(公告)号：JP2006007843A
公开(公告)日：2006-01-12
申请号：JP2004184448
申请日：2004-06-23
申请人： Aisin Seiki Co Ltd , Toyota Motor Corp , アイシン精機株式会社 , トヨタ自動車株式会社
发明人： GOTO TAKESHI , KUROSAWA RYUICHI , TOUTSU KENJI
IPC分类号： B62D6/00 , B62D5/04 , B62D101/00 , B62D111/00 , B62D113/00 , B62D119/00 , B62D137/00
CPC分类号： B62D6/002 , B62D6/003
摘要： PROBLEM TO BE SOLVED: To make a vehicle easy to drive by accurately producing the quantity of state of motion expected by the driver when the driver operates a steering wheel. SOLUTION: This vehicle steering device controls front wheels for turning through computer program processing. A displacement-torque converting part 51 converts a steering angle θ into steering torque Td that is in an exponential relation therewith. A torque-lateral acceleration converting part 52 achieves conversion into expected lateral acceleration Gd based on the steering torque Td. A turning angle converting part 55 calculates a target turning angle δd. A turning angle correcting part 61 obtains from a lateral slip angle computing part 62 the lateral slip angle β of a lateral slip occurring at the vehicle. The turning angle correcting part 61 then corrects the target turning angle δd based on the lateral slip angle β obtained and calculates a corrected target turning angle δda. A drive control part 63 controls turning wheels to the target turning angle δd for turning. Since this enables the driver to accurately perceive the expected lateral acceleration Gd that has occurred, the vehicle becomes easier to drive. COPYRIGHT: (C)2006,JPO&NCIPI
摘要翻译：要解决的问题：当驾驶员操作方向盘时，通过精确地产生驾驶员期望的运动状态量，使车辆容易驾驶。解决方案：该车辆转向装置控制用于转动计算机程序处理的前轮。位移转矩转换部51将转向角θ转换为与其成指数关系的转向转矩Td。转矩 - 横向加速度转换部分52基于转向转矩Td实现转换为期望的横向加速度Gd。转向角转换部55计算目标转向角δd。转向角校正部61从侧滑角计算部62获得在车辆侧发生的侧向滑动的侧滑角β。然后，转弯角修正部61基于所获得的侧滑角β来校正目标转弯角δd，并计算修正后的目标转向角δda。驱动控制部63将转向轮控制到目标转向角度δd以进行转弯。由于这样能够使驾驶员准确地感知到已经发生的预期横向加速度Gd，所以车辆变得更容易驱动。版权所有（C）2006，JPO＆NCIPI

7. 发明专利

JP2005306313A Steering device of vehicle 有权
标题翻译：车辆转向装置
公开(公告)号：JP2005306313A
公开(公告)日：2005-11-04
申请号：JP2004129169
申请日：2004-04-26
申请人： Aisin Seiki Co Ltd , Toyota Motor Corp , アイシン精機株式会社 , トヨタ自動車株式会社
发明人： GOTO TAKESHI , KUROSAWA RYUICHI , TOUTSU KENJI
IPC分类号： B62D6/00 , B62D5/04 , B62D101/00 , B62D111/00 , B62D113/00 , B62D119/00 , B62D137/00
摘要： PROBLEM TO BE SOLVED: To facilitate driving of a vehicle and prevent vibration of a steering wheel generated at a neutral position by steering the vehicle in response of human perceptual characteristic. SOLUTION: A displacement-torque conversion part 51 converts a steering angle θ to a steering torque Td in a steering device of a steering-by-wire system. In this time, the steering torque Td is calculated according to a linear function in the case of less than a predetermined steering angle θz and calculated according to an exponential function in the case of not less than the steering angle θz. A torque-lateral acceleration conversion part 52 converts the steering torque Td to the lateral acceleration Gd which is an exponential relationship and perceivable by a human. A turning angle conversion part 53 calculates a target turned angle δd required so that the vehicle moves at a prospective lateral acceleration Gd. A steering wheel turn control part 60 turning controls a steered wheel to a target turning angle δd. Since a driver performs the operation with a steering wheel while feeling the lateral acceleration, the driving of the vehicle becomes easy and the steering wheel 11 is not vibrated as the steering torque Td is made to be 0 at the neutral position. COPYRIGHT: (C)2006,JPO&NCIPI
摘要翻译：要解决的问题：为了便于驾驶车辆并且通过响应于人的感知特性来转向车辆来防止在中立位置产生的方向盘的振动。解决方案：位移 - 转矩转换部51将转向角θ转换为线控转向系统的转向装置中的转向转矩Td。此时，在小于预定转向角θz的情况下，根据线性函数计算转向转矩Td，并且在不小于转向角θz的情况下根据指数函数计算转向转矩Td。转矩 - 横向加速度转换部52将转向转矩Td转换为作为指数关系并由人感知的横向加速度Gd。转向角转换部53计算出车辆以预期的横向加速度Gd移动所需的目标转角δd。方向盘转向控制部60将转向轮转向目标转向角δd。由于驾驶员在感觉横向加速度的情况下用方向盘进行操作，因此在中立位置使转向转矩Td变为0时，车辆的行驶变得容易，方向盘11不振动。版权所有（C）2006，JPO＆NCIPI

8. 发明专利

JP2005219686A Steering gear for vehicle 审中-公开
标题翻译：车辆转向齿轮
公开(公告)号：JP2005219686A
公开(公告)日：2005-08-18
申请号：JP2004031529
申请日：2004-02-09
申请人： Aisin Seiki Co Ltd , Toyota Motor Corp , アイシン精機株式会社 , トヨタ自動車株式会社
发明人： GOTO TAKESHI , KUROSAWA RYUICHI , TOUTSU KENJI , YAMADA DAISUKE
IPC分类号： B62D6/00 , B62D101/00 , B62D111/00 , B62D113/00 , B62D119/00 , B62D137/00
摘要： PROBLEM TO BE SOLVED: To provide a steering gear for a vehicle capable of estimating the mental state of a driver, and reflecting the estimated mental state to steering characteristics. SOLUTION: An electronic controlling unit 35 obtains a steering angle θ, the stroke amount a of an accelerator pedal, and the stroke amount b of a brake pedal from a steering angle sensor 31, an accelerator pedal sensor 71, and brake pedal sensor 72. The unit 35 calculates acceleration θ", a", and b" of each operation from the obtained detection value, and estimates a mental state change of the driver by comparing the calculated values with operation determining threshold values St, At, and Bt. By this estimation, when the mental state of the driver changes to a state wanting to hurry, steering characteristics is changed to a map Hq having high steering responsibility to the steering of the driver, namely quick steering characteristics. Therefore, the moving state of the vehicle faithful to an intention of the driver can be obtained. COPYRIGHT: (C)2005,JPO&NCIPI
摘要翻译：要解决的问题：提供一种能够估计驾驶员的精神状态的车辆的舵机，并且将估计的精神状态反映到转向特性。解决方案：电子控制单元35从转向角传感器31，加速器踏板传感器71和制动踏板获得转向角θ，加速踏板的行程量a和制动踏板的行程量b 传感器72.单元35根据所获得的检测值计算每个操作的加速度θ“，a”和b“，并通过将计算值与运算确定阈值St，At和通过这种估计，当驾驶员的精神状态变为想要急速的状态时，转向特性被改变为对驾驶员的转向具有高转向责任的地图Hq，即快速转向特性，因此，移动状态可以获得忠实于司机意图的车辆。版权所有（C）2005，JPO＆NCIPI

9. 发明专利

JP2005193783A Steering device for vehicle 有权
标题翻译：车辆转向装置
公开(公告)号：JP2005193783A
公开(公告)日：2005-07-21
申请号：JP2004002224
申请日：2004-01-07
申请人： Aisin Seiki Co Ltd , Toyota Motor Corp , アイシン精機株式会社 , トヨタ自動車株式会社
发明人： GOTO TAKESHI , KUROSAWA RYUICHI , TOUTSU KENJI , YAMADA DAISUKE
IPC分类号： B62D5/04 , B62D6/00 , B62D101/00 , B62D111/00 , B62D113/00 , B62D119/00 , B62D137/00
CPC分类号： B62D6/003
摘要： PROBLEM TO BE SOLVED: To facilitate the driving of a vehicle by steering the vehicle by adjusting to the sensing characteristics of a human being to the operation of a steering wheel by a driver. SOLUTION: In this steering device for a steering-by-wire method vehicle, the front wheels are steered by a computer program process. A displacement-torque conversion section 51 converts a steering angle θ into a steering torque Td having an index relationship. A torque-lateral acceleration conversion section 52 converts the steering torque Td into a prospective lateral acceleration Gd as a motion quantity of state of the vehicle which is under an exponentiation relationship, and a human being may perceive. A rolling steering angle conversion section 53 calculates a target steering angle δd required for the vehicle to move at the prospective lateral acceleration Gd. Then, a steering control section 60 steers steering wheels to the target steering angle δd. Since a driver performs the steering wheel operation while feeling the lateral acceleration, the driving of the vehicle is facilitated. COPYRIGHT: (C)2005,JPO&NCIPI
摘要翻译：要解决的问题：为了通过根据驾驶员对方向盘的操作的感测特性进行调整，便于驾驶车辆。
解决方案：在用于线控转向方法车辆的转向装置中，前轮通过计算机程序进程转向。位移 - 转矩转换部51将转向角θ转换为具有指标关系的转向转矩Td。转矩 - 横向加速度转换部分52将转向转矩Td转换成作为处于乘幂关系的车辆的状态的运动量和人可能感知的预期横向加速度Gd。滚动转向角转换部53计算车辆以预期横向加速度Gd移动所需的目标转向角δd。然后，转向控制部60将方向盘转向目标转向角δd。由于驾驶员在感觉横向加速的同时执行方向盘操作，所以车辆的驾驶变得容易。版权所有（C）2005，JPO＆NCIPI

10. 发明专利

JP2006036060A Steering device of vehicle 有权
标题翻译：车辆转向装置
公开(公告)号：JP2006036060A
公开(公告)日：2006-02-09
申请号：JP2004219893
申请日：2004-07-28
申请人： Aisin Seiki Co Ltd , Toyota Motor Corp , アイシン精機株式会社 , トヨタ自動車株式会社
发明人： GOTO TAKESHI , KUROSAWA RYUICHI , TOUTSU KENJI
IPC分类号： B62D6/00 , B62D5/04 , B62D101/00 , B62D111/00 , B62D113/00 , B62D119/00 , B62D137/00
摘要： PROBLEM TO BE SOLVED: To provide a steering device for a vehicle with a by-wire system capable of facilitating the drive of the vehicle by steering it according to the perceptional characteristic of a human being. SOLUTION: The steering device on the by-wire system includes a displacement-torque conversion part 51 to convert the steering angle θ into the steering torque Td. A torque-transverse acceleration conversion part 52 converts the steering torque Td into a predicted transverse acceleration Gd which is in the exponential relation and which the human being can know perceptionally. A turning angle conversion part 53 calculates a target turning angle δd necessary for the vehicle to make motion with the predicted transverse acceleration Gd, and calculates the compensated target turning angle δdh through compensation of the target turning angle δd in accordance with the vehicle speed V and the running distance of the vehicle using the turning angle in the proportional relation with the steering angle θ. A turning control part 60 controls the steering wheels to make with the compensated target turning angle δdh. Thereby the optimum steering characteristic is obtained to suit the vehicle speed V and the driver's degree of having learnt the steering characteristics. COPYRIGHT: (C)2006,JPO&NCIPI
摘要翻译：要解决的问题：提供一种具有能够通过根据人的感知特性通过转向而促进车辆的驱动的线控系统的用于车辆的转向装置。解决方案：线控系统的转向装置包括将转向角θ转换为转向转矩Td的位移 - 转矩转换部51。转矩 - 横向加速度转换部分52将转向转矩Td转换成指数关系中的预测横向加速度Gd，并且人可以被认知地知道。转向角转换部53通过预测横向加速度Gd来计算车辆进行运动所需的目标转向角δd，并且通过根据车速V补偿目标转向角δd来计算补偿对象转弯角δdh，使用与转向角θ成比例关系的转向角度的车辆的行驶距离。转向控制部60以补偿的目标转向角δdh来控制方向盘。从而获得最佳的转向特性以适应车速V和驾驶员学习转向特性的程度。版权所有（C）2006，JPO＆NCIPI

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