WO2009017199A1 - 車両用操舵制御装置及び方法 - Google Patents

車両用操舵制御装置及び方法 Download PDF

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Publication number
WO2009017199A1
WO2009017199A1 PCT/JP2008/063778 JP2008063778W WO2009017199A1 WO 2009017199 A1 WO2009017199 A1 WO 2009017199A1 JP 2008063778 W JP2008063778 W JP 2008063778W WO 2009017199 A1 WO2009017199 A1 WO 2009017199A1
Authority
WO
WIPO (PCT)
Prior art keywords
steering
control device
steering control
vehicle steering
reaction force
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/JP2008/063778
Other languages
English (en)
French (fr)
Inventor
Taku Suzuki
Takaaki Eguchi
Yuwun Chai
Hiroyuki Yoshizawa
Yukinori Nishida
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nissan Motor Co Ltd
Original Assignee
Nissan Motor Co Ltd
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 Nissan Motor Co Ltd filed Critical Nissan Motor Co Ltd
Priority to EP08791993A priority Critical patent/EP2172386B1/en
Priority to CN2008801016457A priority patent/CN101772448B/zh
Priority to US12/668,305 priority patent/US8340871B2/en
Publication of WO2009017199A1 publication Critical patent/WO2009017199A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/008—Control of feed-back to the steering input member, e.g. simulating road feel in steer-by-wire applications
    • 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
    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
    • B62D6/003—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels in order to control vehicle yaw movement, i.e. around a vertical axis

Landscapes

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

Abstract

操舵コントローラは、自動転舵制御時、自動転舵時の目標転舵角に応じて設定された操舵角を、反力が０となる操舵角とし、該反力が０となる操舵角と実操舵角との偏差に基づいて操舵反力を制御する。
PCT/JP2008/063778 2007-08-02 2008-07-31 車両用操舵制御装置及び方法 Ceased WO2009017199A1 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
EP08791993A EP2172386B1 (en) 2007-08-02 2008-07-31 Vehicle steering control device and method
CN2008801016457A CN101772448B (zh) 2007-08-02 2008-07-31 车辆转向控制装置和方法
US12/668,305 US8340871B2 (en) 2007-08-02 2008-07-31 Vehicle steering control device and method

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
JP2007-201487 2007-08-02
JP2007201487 2007-08-02
JP2008-174452 2008-07-03
JP2008174452A JP5286982B2 (ja) 2007-08-02 2008-07-03 車両用操舵制御装置及び方法

Publications (1)

Publication Number Publication Date
WO2009017199A1 true WO2009017199A1 (ja) 2009-02-05

Family

ID=40304427

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2008/063778 Ceased WO2009017199A1 (ja) 2007-08-02 2008-07-31 車両用操舵制御装置及び方法

Country Status (5)

Country Link
US (1) US8340871B2 (ja)
EP (1) EP2172386B1 (ja)
JP (1) JP5286982B2 (ja)
CN (2) CN102991576B (ja)
WO (1) WO2009017199A1 (ja)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010188856A (ja) * 2009-02-18 2010-09-02 Nissan Motor Co Ltd ステアリング装置、及びステアリング制御方法
US20120123643A1 (en) * 2009-08-03 2012-05-17 Toyota Jidosha Kabushiki Kaisha Driving support apparatus of vehicle
US20220250678A1 (en) * 2021-02-08 2022-08-11 Continental Automotive Gmbh Regulating device and method for regulating the steering angle of a vehicle

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FR2916180B1 (fr) * 2007-05-14 2009-07-03 Renault Sas Procede et dispositif de gestion d'une consigne de braquage appliquee a au moins un actionneur de braquage des roues arriere d'un vehicule automobile
EP2340187B1 (de) * 2008-10-22 2019-03-20 Continental Teves AG & Co. OHG Verfahren und vorrichtung zur automatischen fahrtrichtungsanzeige
JP5123143B2 (ja) * 2008-11-21 2013-01-16 本田技研工業株式会社 車両の電動パワーステアリング装置
GB2482119B (en) 2010-07-19 2013-01-23 China Ind Ltd Racing vehicle game
AU2014216022B2 (en) * 2010-07-19 2015-11-05 China Industries Limited Racing vehicle game
JP5521874B2 (ja) * 2010-08-05 2014-06-18 日産自動車株式会社 操舵制御装置
US9073576B2 (en) * 2011-09-02 2015-07-07 GM Global Technology Operations LLC System and method for smooth steering override transition during automated lane centering
DE102012001666A1 (de) * 2012-01-28 2013-08-01 Audi Ag Verfahren zum Lenken eines Fahrzeugs mittels eines Lenkassistenzsystems
CN104661895B (zh) * 2012-09-25 2016-07-06 日产自动车株式会社 转轮控制装置
JP5794394B2 (ja) * 2012-09-25 2015-10-14 日産自動車株式会社 操舵制御装置
JP5971126B2 (ja) * 2012-09-25 2016-08-17 日産自動車株式会社 操舵制御装置
WO2014054626A1 (ja) * 2012-10-04 2014-04-10 日産自動車株式会社 操舵制御装置
MX379349B (es) * 2012-10-04 2025-03-11 Nissan Motor Dispositivo para control de la direccion.
CN104995081B (zh) * 2013-01-10 2016-09-21 日产自动车株式会社 转轮控制装置
WO2014109307A1 (ja) * 2013-01-10 2014-07-17 日産自動車株式会社 車線内走行支援装置
US9505428B2 (en) * 2013-01-11 2016-11-29 Nissan Motor Co., Ltd. Steering control device
EP2960139B1 (en) * 2013-02-21 2017-02-15 Nissan Motor Co., Ltd. Vehicular steering control device, and vehicular steering control method
JP6142733B2 (ja) * 2013-08-26 2017-06-07 株式会社ジェイテクト 車両のパワーステアリング装置
CN105899419B (zh) * 2013-11-22 2017-11-28 日本精工株式会社 中途故障诊断系统及安装了该中途故障诊断系统的电动助力转向装置
JPWO2016006013A1 (ja) 2014-07-07 2017-04-27 三菱電機株式会社 操舵制御装置、操舵制御システム、操舵制御方法、及び操舵制御プログラム
EP3509930B1 (de) 2017-03-07 2020-01-08 Continental Automotive GmbH Vorrichtung und verfahren zur detektion einer handführung eines lenkrades
CN107140012B (zh) * 2017-05-10 2023-04-04 南京航空航天大学 一种基于可抑制发散的卡尔曼滤波器的线控转向系统及控制方法
EP3725644B1 (en) * 2017-12-12 2022-02-09 Nissan Motor Co., Ltd. Vehicle steering control method and vehicle steering control device
JP7221743B2 (ja) * 2019-03-07 2023-02-14 トヨタ自動車株式会社 車両制御システム
JP7376242B2 (ja) * 2019-03-19 2023-11-08 株式会社ジェイテクト 操舵制御装置
DE102019210509A1 (de) * 2019-07-16 2021-01-21 Continental Automotive Gmbh Spurgeführte Fahrerassistenzvorrichtung und Verfahren zur Unterstützung oder Automatisierung der Quersteuerung eines Fahrzeugs
JP7412209B2 (ja) * 2020-02-17 2024-01-12 株式会社Subaru 車両のレーンキープ制御装置
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
US11447175B2 (en) * 2020-05-31 2022-09-20 Steering Solutions Ip Holding Corporation Steer ratio synchronization for steer-by-wire systems
JP7573161B2 (ja) 2020-07-14 2024-10-25 株式会社ジェイテクト 操舵装置
JP7634385B2 (ja) * 2021-02-24 2025-02-21 株式会社ジェイテクト 車両用制御装置
DE102021202482B4 (de) * 2021-03-15 2023-06-29 Continental Automotive Technologies GmbH Regelungseinrichtung und Verfahren zur Lenkwinkelregelung eines Fahrzeugs
JP7602204B2 (ja) * 2021-07-16 2024-12-18 トヨタ自動車株式会社 車両用操舵ガイドトルク制御装置
JP7681245B2 (ja) * 2021-11-10 2025-05-22 株式会社ジェイテクト 操舵装置
DE102022104585B4 (de) * 2022-02-25 2023-11-30 Bayerische Motoren Werke Aktiengesellschaft Fahrsystem mit absicherung der automatisierten querführung im hands-off-fahrbetrieb, entsprechendes verfahren und entsprechende software
JP7548258B2 (ja) * 2022-03-14 2024-09-10 トヨタ自動車株式会社 車両制御装置
JP7787498B2 (ja) * 2022-10-19 2025-12-17 トヨタ自動車株式会社 車両の制御装置

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003261052A (ja) * 2002-03-06 2003-09-16 Toyota Motor Corp 車輌用自動操舵装置
JP2004224238A (ja) * 2003-01-24 2004-08-12 Honda Motor Co Ltd 操舵装置
JP2006264374A (ja) 2005-03-22 2006-10-05 Jtekt Corp 車両用操舵装置
JP2007145207A (ja) * 2005-11-29 2007-06-14 Nissan Motor Co Ltd 車両用操舵制御装置

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3627120B2 (ja) * 1997-02-19 2005-03-09 光洋精工株式会社 車両用操舵装置
DE10137292A1 (de) * 2001-08-01 2003-03-06 Continental Teves Ag & Co Ohg Fahrer-Assistenzsystem und Verfahren zu dessen Betrieb
JP3935409B2 (ja) * 2002-08-27 2007-06-20 富士重工業株式会社 電動式パワーステアリング装置
JP2004361246A (ja) * 2003-06-04 2004-12-24 Denso Corp 車両機器操作制御装置
JP4231416B2 (ja) * 2004-01-07 2009-02-25 トヨタ自動車株式会社 車両の操舵装置
US7500537B2 (en) * 2004-08-25 2009-03-10 Toyota Jidosha Kabushiki Kaisha Steering apparatus for vehicle
DE102005033866A1 (de) 2005-07-20 2007-01-25 Robert Bosch Gmbh Lenksystem für Kraftfahrzeuge mit gleitender Nulllage

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003261052A (ja) * 2002-03-06 2003-09-16 Toyota Motor Corp 車輌用自動操舵装置
JP2004224238A (ja) * 2003-01-24 2004-08-12 Honda Motor Co Ltd 操舵装置
JP2006264374A (ja) 2005-03-22 2006-10-05 Jtekt Corp 車両用操舵装置
JP2007145207A (ja) * 2005-11-29 2007-06-14 Nissan Motor Co Ltd 車両用操舵制御装置

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP2172386A4 *

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010188856A (ja) * 2009-02-18 2010-09-02 Nissan Motor Co Ltd ステアリング装置、及びステアリング制御方法
US20120123643A1 (en) * 2009-08-03 2012-05-17 Toyota Jidosha Kabushiki Kaisha Driving support apparatus of vehicle
CN102498026A (zh) * 2009-08-03 2012-06-13 丰田自动车株式会社 车辆的行驶辅助装置
US8688327B2 (en) * 2009-08-03 2014-04-01 Toyota Jidosha Kabushiki Kaisha Driving support apparatus of vehicle
CN102498026B (zh) * 2009-08-03 2014-07-02 丰田自动车株式会社 车辆的行驶辅助装置
US20220250678A1 (en) * 2021-02-08 2022-08-11 Continental Automotive Gmbh Regulating device and method for regulating the steering angle of a vehicle
US11981379B2 (en) * 2021-02-08 2024-05-14 Continental Automotive Gmbh Regulating device and method for regulating the steering angle of a vehicle

Also Published As

Publication number Publication date
JP5286982B2 (ja) 2013-09-11
US20100138112A1 (en) 2010-06-03
CN102991576B (zh) 2015-06-17
EP2172386A4 (en) 2011-10-12
CN102991576A (zh) 2013-03-27
US8340871B2 (en) 2012-12-25
EP2172386A1 (en) 2010-04-07
CN101772448A (zh) 2010-07-07
CN101772448B (zh) 2013-06-12
EP2172386B1 (en) 2013-01-09
JP2009051491A (ja) 2009-03-12

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