Toyota Jidosha Kabushiki Kaisha

Toyoda Koki Kabushiki Kaisha

The Furukawa Electric Co., Ltd.

Jtekt Corporation

Junji Kawamuro

Takahiro Kojo

Masatoshi Nakatsu

Morihiro Matsuda

Kazumasa Kodama

Masahiko Shindo

Hirozumi Eki

Michiyuki Sugiyama

Yutaka Mori

Kosuke Akatsuka

Rio Suda

Shoichi Shono

Hirofumi Momose

Shuichi Tamagawa

Masahiro Miyata

Hidehisa Kato

Masato Suzumura

Yuki Suehiro

Tetsuhiro Narita

Yasunori Okada

Yukihiko Kanayama

Naofumi Kobayashi

A remote support system performs a remote support of a moving body. The remote support system includes processing circuitry. The processing circuitry is configured to acquire, via communication, a first video shot with a first infrastructure camera installed in a target area in which the moving body moves. The processing circuitry is configured to present the first video to a remote supporter to perform the remote support for the moving body. When an abnormality occurs in the first video, the processing circuitry is configured to execute an abnormality handling process to resolve the abnormality in the first video or to present a substitute video to the remote supporter instead of the first video.

Remote support system and remote support method

A vehicle braking apparatus that can exert high braking performance during vehicle braking is implemented by a control mode that can be realized in a braking apparatus () of usual hardware. In controlling the braking apparatus () of a vehicle, a climb rate of a wheel cylinder braking oil pressure (Pw) is decreased smaller than a climb rate corresponding to a climb rate of a master cylinder oil pressure (Pm) from a time point at which the wheel cylinder braking oil pressure (Pw) reaches a predetermined threshold value. The time point at which the wheel cylinder braking oil pressure (Pw) reaches the predetermined threshold value (P) is estimated based on the climb process of the master cylinder oil pressure (Pm) or directly detected.

Vehicle braking apparatus suppressing excessive slip of wheel during braking

A spiral cable device is provided with a cylindrical casing, an inner cylinder rotatable relative to the cylindrical casing, and a flexible flat cable connected to the inner cylinder at one end thereof and to the cylindrical casing at the other end thereof. The flexible flat cable has plural leads arranged in a single layer and is folded to form multiple layers of the leads, so that even where the flexible flat cable is to have many leads, the spiral cable device can be made short in the axial direction thereof.

Spiral cable device

An electric steering control device is provided which is capable of enabling the driver to perform steering manipulation stably without being substantially affected by the ambient temperature and the heat generation of the control device. The control device comprises a temperature sensor for detecting the temperature of a circuit board mounting a motor drive circuit thereon and a compensation section for compensating an electric current command value based on the board temperature detected by the temperature sensor, so that en electric motor for exerting an assist force on a vehicle steering mechanism is driven by the compensated electric current command value output from a motor drive circuit. Therefore, the steering operation can be done stably without being substantially affected by the ambient temperature and the heat generation of the control device. In particular, since the temperature sensor is arranged not on the motor drive circuit per se but on a circuit board mounting the motor drive circuit thereon, the freedom can be heightened in arranging the temperature sensor. Further, since the temperature sensor for heat control of a spiral cable provided on the electric motor is utilized also for compensation of the electric current command value, the components for the control device can be reduced in number.

Electric steering control device

In a neutral position detection error protecting apparatus, vehicle wheel velocities of right/left driven wheels are detected and a right/left wheel velocity difference is obtained. Then, when a right/left wheel velocity difference is less than a predetermined velocity a steering rotation angle is more than a predetermined value and a vehicle wheel velocity is more than a predetermined velocity in a predetermined period, it is determined that there is an abnormality in the vehicle wheel velocities.

Steering angle neutral position detection error protecting method and detection error protecting apparatus

A drive controlling unit includes a final angle position memorizing device for memorizing a final angle position at a time of termination of the vehicle driving operation, an input complete data memorizing device capable of switching the memory content between a first memory condition and a second memory condition. The first memory condition indicates completeness of writing of the final angle position in the final angle position memorizing device. The second memory condition indicates failure in writing the final angle position therein. The input complete data memorizing device is capable of maintaining the memory content even when the vehicle is stationary.

Vehicle steering control system

A target relative rotational angle &#x394;&#x3b8;t which is created by a steering gear ratio change unit and which is formed by a lower steering shaft relative to an upper steering shaft is calculated on the basis of a steering angle &#x3b8;, and a post-correction target relative rotational angle &#x394;&#x3b8;ta to be created by the steering gear ratio change unit is calculated on the basis of the target relative rotational angle &#x394;&#x3b8;t and a vehicle speed range that has been determined on the basis of a vehicle speed V. Thus, a target relative rotational angle in one lateral direction is so corrected as to be equal to or smaller than a difference between a permissible rotational angle to be defined by a spiral cable in the other lateral direction and a maximum possible rotational angle of the lower steering shaft in the other lateral direction. An electric motor is controlled on the basis of the post-correction target relative rotational angle &#x394;&#x3b8;ta.

Vehicular steering control device and vehicular steering control method

A vehicular steering control apparatus controls the wheel steering amount of wheels based on a steering angle and an assist angle obtained by multiplying a steering speed by a gain. If the amount of power control differs between the left wheel and the right wheel, the value of gain is increased. The amount of power control includes, for example, the amount of braking control and the amount of drive control. If the assist angle is increased by increasing the gain, the magnitude of the wheel steering amount relative to the steering angle increases, so that a driver can correct the orientation of the vehicle body by performing a small amount of steering operation.

Vehicular steering control apparatus and method

A PWM control includes a first PWM control and a second PWM control. In the first PWM control, a first power supply terminal of a first coil is kept non-switched under being connected to a first pole of a direct current power source, and a second power supply terminal of a second coil is capable of being switched under being connected to a second pole of the direct current power source. The second PWM control is performed by switching a first connected condition and a second connected condition by turns. The first connected condition is established with the first power supply terminal connected to the first pole and the second power supply terminal connected to the second pole. The second connected condition is established with the first power supply terminal being connected to the second pole and the second power supply terminal being connected to the first pole.

A vehicle steering apparatus is provided with a transmitting ratio variable gear ratio mechanism in a steering force transmitting system, and a lock mechanism which limits relative rotation between an input shaft and an output shaft of the steering force transmitting system. In the lock mechanism is provided a lock holder which rotates together with a rotor of a motor, and in which is formed a plurality of first indented portions in a circumferential direction along the circumference and a second indented portion indented deeper than the first indented portions at one end portion of each of the first indented portions. In the lock mechanism is also provided a lock arm which is provided on a stator side of the motor and which engages with the one of the first indented portions or second indented portions.

Vehicle steering apparatus

A vehicle steering apparatus includes a variable gear ratio mechanism which is provided in a steering force transmitting system, and a lock mechanism which restricts relative rotation of an input shaft and an output shaft of the transmitting ratio changing mechanism. The lock mechanism is engaged by inserting a lock arm in a indented portion of a lock holder of the lock mechanism. A play angle when the lock mechanism is engaged by inserting the lock arm in the indented portion is set to be smaller than a rotational angle of a motor which is required for outputting six different signals.

A angle sensor identifies a angle phase of a rotatable member based on a kind of an identified pattern of the angle phase to detect an angular position of a steering shaft driven by a motor A steering controller identifies a rotational direction based on an identified pattern output of the angle and performs a sampling of the pattern output at a predetermined interval, identifies an order of combination order of the identified pattern of an angle phase in a first sampling and a second sampling following to the first sampling, and determines a pattern exchange number with the rotational direction from the order in the first sampling to the order in the second sampling. The steering controller adds a number corresponding to the pattern exchange number to a counting number when the rotational direction is plus and decrease a number corresponding to the pattern exchange number from the counting number when the rotational direction is minus in order to identify the angular position of the steering shaft by the counted number.

Steering control system for vehicle

A base transmission ratio Gbase is determined according to the vehicle speed and a compensation amount &agr; is determined for each of feed steering case and return steering case during acceleration/deceleration. Based on this, the transmission ratio G of a transmission ratio varying mechanism is set as G&equals;Gbase&plus;&agr;.

Steering control method and apparatus

Target rotational speed of servo motor,is set based on steering speed &thgr;hv detected by steering speed sensor and transmission ratio G set according to a running condition, and speed of servo motor is controlled so that rotational speed &thgr;pv of servo motor detected by rotational speed sensor may agree with the target rotational speed.

Steering control apparatus for vehicle

In a vehicle steering apparatus having a variable gear ratio unit arranged midway along a steering transmission system for connecting a steering wheel and tires to change the transmission ratio, and an ECU for variably controlling the variable gear ratio unit in accordance with the state of a vehicle, the variable gear ratio unit includes a motor controlled by the ECU, and a reducing mechanism which has a transmission ratio for allowing to maintain the steering angle of the steering wheel with respect to an RF reverse input and transmits the rotation of the motor to the output side. Even if a reverse input acts from a tire side during traveling, the relationship between the steering amount of the steering wheel and the turning amount of the tire can be kept unchanged.

Growing community of inventors

Susono, Japan

Junji Kawamuro