Honda Motor Co., Ltd.

Honda Giken Kogyo Kabushiki Kaisha

Nobuo Sugitani

Osamu Tsurumiya

Takao Kurosawa

Yoshiki Noro

Yoshinobu Mukai

Yutaka Horiuchi

Yasuo Shimizu

Yoshimitsu Akuta

Masaaki Kawano

Akio Kobayashi

Takashi Yanagi

Shinzi Hironaka

Yasuhiro Terada

Kouhei Maruyama

Hitoshi Iwai

Nobuyoshi Asanuma

Hisao Asaumi

Takashi Nishimori

Kiyoshi Wakamatsu

Manabu Ikegaya

Makoto Murata

Yukihiro Fujiwara

A steering controller for an electric power steering deviceincludes a base signal computing partfor computing a base signal Din accordance with at least the steering torque; a damper compensation signal computing partfor computing a damper compensation signal in accordance with an angular velocity of an electric motoror a speed of steering wheel turn; and an inertia compensation signal computing partfor compensating inertia and viscosity in the steering unit. The electric motor is driven by a target signal IMobtained by compensating the base signal with a damper compensation signal and an inertia compensation signal, to provide a steering auxiliary force. The target signal of the auxiliary torque is compensated so that a difference between a reference self-aligning torque of front wheel in a front wheel steering vehicle and a self-aligning torque of front wheel in an all-wheel steering vehicle is provided to a driver as a responsive feeling from the steering torque.

Steering system

The main calculation section () of a toe angle alteration control ECU () in a vehicle control system receives target toe angles &#x3b1;and &#x3b1;. from a steering control ECU () and controls a motor (31) for changing the toe angles of a left rear wheel and a motor () for changing the toe angle of a right rear wheel independently. Stroke sensors () detect actual toe angles &#x3b1;and &#x3b1;and inputs to the judging portion () of actuations of the sub calculation section (). In accordance with a pre-stored judgment table (), the judging portion () of actuations calculates an allowable actuation range, which is a combination of the toe angles &#x3b1;and &#x3b1;of the left-and-right rear wheels depending on vehicle speed VS, and judges whether the actuation of the motor () is suitable for the turning of a vehicle or not depending on whether the actual toe angles &#x3b1;and &#x3b1;. is within the allowable actuation range or not.

Vehicle control system and method for judging abnormality in vehicle control system

A vehicle steering apparatus, which includes: a steering system connection member connecting a steering wheel and a tire; an electric generator installed in the steering system connection member so as to adjusting a steering force of the steering wheel; and a control unit for controlling a connection/disconnection of both terminals of an armature coil in the electric generator based on a vehicle speed.

Vehicle steering apparatus

An alignment changing control device that includes: a motor drive section which adjusts electrical power supplied to a motor of the electric actuator according to an operation command and, when receiving an operation inhibiting signal, limits or stops supplying the electrical power to the motor; a motor temperature estimating section for calculating an estimated temperature of the motor from at least a current supplied to the motor, an outside air temperature and a vehicle speed, based on heat balance relationship; and a comparator which transmits the operation inhibiting signal to the motor drive section when the estimated temperature of the motor calculated by the motor temperature estimating section is higher than a predetermined temperature, which is equal to or lower than an operation allowable temperature of the motor.

Alignment changing control device

An apparatus for steering a vehicle includes a hand steering device, a road wheel steering device, a steering motor and a connection device. The hand steering device is a device which a driver of the vehicle manipulates for steering road wheels. The road wheel steering device actuates the road wheels. The steering motor, which is attached to the road wheel steering device, produces an assist force for the road wheels. The connection device selectively connects and disconnects the hand steering device and the road wheel steering device. In the apparatus, a ratio of a displacement made by the hand steering device to a displacement generated by the road wheel steering device increases as a speed of the vehicle becomes greater while the vehicle is traveling in a predetermined range of speed, and a gradient of the ratio is adapted to be greater when the speed is lower.

Apparatus for steering a vehicle

A steering apparatus for a vehicle, includes: an operation unit; an input operation magnitude measuring unit; a turning actuator turning steerable wheels; a reaction force actuator; a turning actuator control unit; a reaction force actuator control unit; a planetary gear unit disposed between the operation unit and the turning actuator; a locking element fixing and releasing a component of the planetary gear unit; a locking element operation unit; a locking state detection unit; and a control unit executing at least one of the control operations for increasing magnitude of a control parameter for the turning actuator and for increasing magnitude of a control parameter for the reaction force actuator if it is determined by the locking state detection unit that the locking element is placed in a locked state even though the locking element operation unit is operated so as to place the locking element in the locked state from an unlocked state.

Steering apparatus for vehicle

A steering system includes a steering wheel, a steering angle sensor detecting a steering angle, a steering motor steering road-wheels, a reaction motor imparting a reaction force to the steering wheel, an ECU driving the steering motor with respect to a detected steering angle and a temperature detecting unit detecting temperatures of the steering motor, the reaction motor or a constituent member involved in the temperatures of the motors. When the temperature detected is larger than a predetermined value, the ECU performs such that a ratio of the rotating angle to the steering angle is made smaller than one that is to result when the temperature is equal to or smaller than the predetermined value, or a reaction force that is to be imparted to the steering wheel is made larger.

Steering system and method of control

A steering system for a vehicle, includes a control operated by a driver of the vehicle; a measuring device for measuring a quantity of operation of the control by the driver; a steering section including a steering actuator for steering wheels which are mechanically independent of the control; a section for setting a target steering angle in accordance with the quantity of operation measured by the measuring device; a reaction actuator for applying a steering reactive force to the control; a section for setting a virtual steering angle based on a virtual model which represents predetermined dynamic characteristics of the steering section; and a reaction control section for setting a target reactive force in accordance with a difference between the target steering angle and the virtual steering angle, and controlling the reaction actuator based on the target reactive force.

Vehicle steering system for setting steering reaction without using difference between target and actual steering angles

A steering device with a constitution in which an operation unit and steerable wheels are not mechanically connected, has a target turning angle setting device which sets a target turning angle of the steerable wheels according to an operation amount of the operation unit, a turning angle measuring device which measures an actual turning angle of the steerable wheels, and a turning actuator which turns the steerable wheels according to a deviation between the target turning angle and the actual turning angle, wherein, when an operating direction of the operation unit is reversed, the target turning angle setting device sets the target turning angle according to the actual turning angle which is measured by the turning angle measuring device at a time of reversing.

Steering device

A steering device in which a steering wheel which a driver operates and wheels which are steered are not mechanically connected has a target turning angle determination device which determines a target turning angle of the wheels according to an operation amount of the steering wheel, a turning angle sensor which measures an actual turning angle of the wheels, a steering motor which turns the wheels according to a deviation between the target turning angle and the actual turning angle, a target steering reaction force setting section which determines a steering reaction force to be applied to the steering wheel, and a steering reaction force motor which applies the steering reaction force, in which a rate of increase of the steering reaction force is raised when the actual turning angle approaches a maximum turning angle.

In a vehicle steering system, in particular a steer-by-wire system, using a feedback control including an integral control unit in the feedback path, the integral factor of the integral control unit is made variable depending on the condition of the vehicle, road condition and preference of the vehicle operator so that the intensity of the steering reaction from the tires that is applied to the vehicle operator can be optimally adjusted. Thereby, the steering system can reduce the stead-state deviation and improve the stability in holding a steering angle both without any substantial compromise.

Vehicle steering system with an integral feedback control

A steering apparatus for a vehicle includes an operating lever, an operating amount sensor that detects the operating amount of the operating lever, an operating reaction force motor that imparts an operating reaction force to the operating lever, a steering mechanism section that steers a steered wheel of a vehicle, a rack position sensor that detects the steered amount of the steered wheel, an operating torque sensor that detects an operating torque, and a control device that determines the control amount for the operating reaction force motor and the control amount for the steering mechanism section in accordance with a deviation between the above operating amount and the above steered amount. The control device includes a feedforward control device that feedforward-controls the steering mechanism section in accordance with the operating torque, and a band-pass filter that increases or decreases the feedforward effect in accordance with the operating frequency. By adjusting the feedforward effect with the band-pass filter in accordance with the operating frequency of the operating element, the responsiveness can be adjusted.

A steering apparatus for a vehicle is provided, which has a controller, a first device for detection of an amount of manipulation rendered to the controller, a second device for detection of an amount of steering of steerable wheels, a control unit for controlling an amount of steering based on at least the amount of manipulation and a third device for applying a reaction force to the controller. The apparatus has a feature that it includes the sensor for detection of a speed of the vehicle and the control unit determines the reaction force by multiplying a deviation between the amount of manipulation and the amount of steering by a coefficient for vehicle speed, which is adapted to be larger as the speed of the vehicle detected by the sensor increases.

Steering apparatus for a vehicle

A non-linear region controller calculates a standard yaw rate from an actual steering angle &thgr;r of steerable wheels detected by a steering angle sensor , a deviation from the standard yaw rate, of a yaw rate &ggr;r detected by a yaw rate sensor , and a rate of change of the yaw rate deviation. Based upon calculated results, the non-linear region controller determines whether tires of a traveling vehicle are in a non-linear region of tire characteristic, and if determining so, exercises a steering amount reduction control to reduce an actual steering angle &thgr;r of the steerable wheels. The determination of linearity of tire characteristic can be made with comparative ease utilizing a commonly available sensor, and the vehicle is controlled using the determination result.

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Wako, Japan

Nobuo Sugitani