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WO2009069196A1 - 操舵制御装置 - Google Patents

操舵制御装置 Download PDF

Info

Publication number
WO2009069196A1
WO2009069196A1 PCT/JP2007/072837 JP2007072837W WO2009069196A1 WO 2009069196 A1 WO2009069196 A1 WO 2009069196A1 JP 2007072837 W JP2007072837 W JP 2007072837W WO 2009069196 A1 WO2009069196 A1 WO 2009069196A1
Authority
WO
WIPO (PCT)
Prior art keywords
current
steering
target
assist
power
Prior art date
Application number
PCT/JP2007/072837
Other languages
English (en)
French (fr)
Inventor
Masaya Endo
Masahiko Kurishige
Original Assignee
Mitsubishi Electric Corporation
Ogawa, Kenji
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Mitsubishi Electric Corporation, Ogawa, Kenji filed Critical Mitsubishi Electric Corporation
Priority to EP07832562.8A priority Critical patent/EP2213546B1/en
Priority to PCT/JP2007/072837 priority patent/WO2009069196A1/ja
Priority to KR1020107011594A priority patent/KR101156899B1/ko
Priority to JP2009543603A priority patent/JP5068327B2/ja
Publication of WO2009069196A1 publication Critical patent/WO2009069196A1/ja

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
    • B62D1/24—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted
    • B62D1/28—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted non-mechanical, e.g. following a line or other known markers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027—Parking aids, e.g. instruction means
    • B62D15/0285—Parking performed automatically
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/046—Controlling the motor
    • B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

　自動操舵中にステアリングホイールに作用する慣性トルクによる電動パワーアシスト用目標電流の変動を抑制し、円滑な自動操舵制御を可能にしかつ自動操舵制御中でも運転者の操舵を円滑にアシストする操舵制御装置を得る。 　電動パワーアシスト制御の為のモータの電動パワーアシスト用目標電流を演算する電動パワーアシスト制御部７１、転舵輪の自動操舵制御の為のモータの自動操舵用目標電流を演算する自動操舵制御部７２、自動操舵制御時に電動パワーアシスト用と自動操舵用の目標電流の和に合わせてモータ電流を制御する電流制御部７３、電動パワーアシスト用目標電流の運転者の操舵周波数を含みステアリングホイール慣性トルクによる変動成分の周波数を含まない所定の周波数成分を抽出し、抽出した周波数成分で電動パワーアシスト用目標電流を補正する周波数成分抽出器７１１を含む。
PCT/JP2007/072837 2007-11-27 2007-11-27 操舵制御装置 WO2009069196A1 (ja)

Priority Applications (4)

Application Number Priority Date Filing Date Title
EP07832562.8A EP2213546B1 (en) 2007-11-27 2007-11-27 Steering control device
PCT/JP2007/072837 WO2009069196A1 (ja) 2007-11-27 2007-11-27 操舵制御装置
KR1020107011594A KR101156899B1 (ko) 2007-11-27 2007-11-27 조타 제어 장치
JP2009543603A JP5068327B2 (ja) 2007-11-27 2007-11-27 操舵制御装置

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2007/072837 WO2009069196A1 (ja) 2007-11-27 2007-11-27 操舵制御装置

Publications (1)

Publication Number Publication Date
WO2009069196A1 true WO2009069196A1 (ja) 2009-06-04

Family

ID=40678114

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2007/072837 WO2009069196A1 (ja) 2007-11-27 2007-11-27 操舵制御装置

Country Status (4)

Country Link
EP (1) EP2213546B1 (ja)
JP (1) JP5068327B2 (ja)
KR (1) KR101156899B1 (ja)
WO (1) WO2009069196A1 (ja)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2013252729A (ja) * 2012-06-05 2013-12-19 Nsk Ltd 電動パワーステアリング装置
JP2014080097A (ja) * 2012-10-16 2014-05-08 Toyota Motor Corp 電動パワーステアリング装置
JP2018065490A (ja) * 2016-10-20 2018-04-26 日立オートモティブシステムズ株式会社 パワーステアリング装置
JP2019182292A (ja) * 2018-04-13 2019-10-24 三菱電機株式会社 車両用操舵制御量決定装置、車両用操舵制御量決定方法、車両用操舵制御装置、及び、車両用操舵制御方法

Families Citing this family (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101259598B1 (ko) 2010-07-30 2013-04-30 주식회사 팬택 로드뷰 제공 장치 및 방법
EP2937266B1 (en) 2013-03-08 2017-11-15 NSK Ltd. Electric power steering device
US9616928B2 (en) 2015-03-25 2017-04-11 Ford Global Technologies, Llc Steering angle control for multiple features
US9751558B2 (en) * 2015-03-25 2017-09-05 Ford Global Technologies, Llc Handwheel obstruction detection and inertia compensation
JP6578143B2 (ja) * 2015-06-30 2019-09-18 日立オートモティブシステムズ株式会社 パワーステアリング装置の制御装置及びパワーステアリング装置
US9849864B2 (en) 2015-07-31 2017-12-26 Ford Global Technologies, Llc Vehicle parking assist system
US9981656B2 (en) 2015-10-13 2018-05-29 Ford Global Technologies, Llc Vehicle parking assist system
US10328933B2 (en) 2015-10-29 2019-06-25 Ford Global Technologies, Llc Cognitive reverse speed limiting
US9895945B2 (en) 2015-12-08 2018-02-20 Ford Global Technologies, Llc Trailer backup assist system with hitch assist
US9796410B2 (en) 2016-01-28 2017-10-24 Denso Corporation Motor controller
JP6769047B2 (ja) * 2016-03-04 2020-10-14 株式会社ジェイテクト 操舵制御装置
US9829883B1 (en) 2016-10-17 2017-11-28 Ford Global Technologies, Llc Trailer backup assist system having remote control and user sight management
KR102451995B1 (ko) 2017-12-13 2022-10-06 현대자동차주식회사 자동차용 스티어링 휠 토크 추정 방법
JP7303153B2 (ja) * 2020-05-18 2023-07-04 トヨタ自動車株式会社 車両用運転支援装置

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08337181A (ja) * 1995-06-13 1996-12-24 Nissan Motor Co Ltd 車両の自動操舵装置
JPH1178936A (ja) * 1997-08-29 1999-03-23 Honda Motor Co Ltd 車両の自動操舵装置
JPH11208498A (ja) * 1998-01-27 1999-08-03 Nissan Motor Co Ltd 車両用自動操舵装置
JPH11321686A (ja) * 1998-05-15 1999-11-24 Honda Motor Co Ltd 車両の自動操舵装置
JP3498910B2 (ja) 2000-09-05 2004-02-23 日産自動車株式会社 車線追従制御装置
JP2004256076A (ja) * 2003-02-27 2004-09-16 Toyota Motor Corp 自動操舵装置
JP3693048B2 (ja) 2001-09-10 2005-09-07 トヨタ自動車株式会社 自動操舵装置
JP3712876B2 (ja) 1998-12-01 2005-11-02 三菱電機株式会社 電動式パワーステアリング制御装置

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004359178A (ja) * 2003-06-06 2004-12-24 Toyota Motor Corp 電動パワーステアリング制御装置及び制御方法

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08337181A (ja) * 1995-06-13 1996-12-24 Nissan Motor Co Ltd 車両の自動操舵装置
JPH1178936A (ja) * 1997-08-29 1999-03-23 Honda Motor Co Ltd 車両の自動操舵装置
JPH11208498A (ja) * 1998-01-27 1999-08-03 Nissan Motor Co Ltd 車両用自動操舵装置
JPH11321686A (ja) * 1998-05-15 1999-11-24 Honda Motor Co Ltd 車両の自動操舵装置
JP3712876B2 (ja) 1998-12-01 2005-11-02 三菱電機株式会社 電動式パワーステアリング制御装置
JP3498910B2 (ja) 2000-09-05 2004-02-23 日産自動車株式会社 車線追従制御装置
JP3693048B2 (ja) 2001-09-10 2005-09-07 トヨタ自動車株式会社 自動操舵装置
JP2004256076A (ja) * 2003-02-27 2004-09-16 Toyota Motor Corp 自動操舵装置

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP2213546A4 *

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2013252729A (ja) * 2012-06-05 2013-12-19 Nsk Ltd 電動パワーステアリング装置
JP2014080097A (ja) * 2012-10-16 2014-05-08 Toyota Motor Corp 電動パワーステアリング装置
JP2018065490A (ja) * 2016-10-20 2018-04-26 日立オートモティブシステムズ株式会社 パワーステアリング装置
JP2019182292A (ja) * 2018-04-13 2019-10-24 三菱電機株式会社 車両用操舵制御量決定装置、車両用操舵制御量決定方法、車両用操舵制御装置、及び、車両用操舵制御方法

Also Published As

Publication number Publication date
JPWO2009069196A1 (ja) 2011-04-07
KR20100074305A (ko) 2010-07-01
EP2213546A4 (en) 2014-01-15
KR101156899B1 (ko) 2012-06-21
EP2213546B1 (en) 2014-08-20
EP2213546A1 (en) 2010-08-04
JP5068327B2 (ja) 2012-11-07

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