Honda Motor Co., Ltd.

Honda Giken Kogyo Kabushiki Kaisha

Yoshimitsu Akuta

Shuji Shiraishi

Nobuo Sugitani

Keiyu Kin

Takuya Yamaguchi

Osamu Yamamoto

Takashi Nishihara

Kiyoshi Wakamatsu

Manabu Ikegaya

Nobuhiro Yamada

Makoto Sato

Kunimichi Hatano

Hiromi Inagaki

Nobuyoshi Asanuma

Hisao Asaumi

Mitsuya Serizawa

Takashi Nishimori

Hajime Kajiwara

Shunsuke Watanabe

Masaaki Kawano

Kiyoshi Nakajima

Minoru Higuchi

Keiichi Takikawa

Masaaki Minakawa

Takehiko Hakui

Wataru Saito

Yuji Sakaki

Akira Kanehara

Kazuo Matsuura

Yukihiro Fujiwara

Ryo Iitaka

Aya Sasaki

Tooru Ikeda

Hitoshi Iwai

Takafumi Katou

Hajime Hirata

Osamo Yamamoto

A driving support device includes: a trajectory deriving unit configured to derive a reference trajectory in a predetermined section corresponding to a predetermined curve shape; a frequency deriving unit configured to derive a first frequency which is determined according to a frequency component of a steering angle of a vehicle when it is assumed that the vehicle has passed through the predetermined section along the reference trajectory; a detection value acquiring unit configured to acquire a detection value of the steering angle; a component deriving unit configured to derive a frequency component of the steering angle acquired in the predetermined section when the vehicle has passed through the predetermined section; and a driving support unit configured to determine a driving support operation for a driver of the vehicle on the basis of a result of comparison between an integrated value of the frequency component in a first band equal to or greater than the first frequency and equal to or less than a second frequency and a first reference value.

Driving support device, driving support method, and storage medium

A rear wheel suspension device includes a knuckle configured to support a rear wheel, a trailing arm and upper arm and lower arm configured to link the knuckle to a vehicle body, and an actuator configured to drive the knuckle in the general width direction of the vehicle, so as to adjust the rear wheel camber angle and toe angle. The knuckle is linked to the suspension arms via linking portion enabling turning of the knuckle in a direction of changing the rear wheel camber angle and toe angle. A turning axis defined by the linking portion is tilted with respect to longitudinal direction of the vehicle such that the front portion thereof in the longitudinal direction of the vehicle is tilted outward in plan view, and is tilted upward in side view.

Rear wheel suspension device

A rear wheel suspension device includes a knuckle configured to support a rear wheel, a trailing arm configured to link the knuckle to a vehicle body, and an actuator configured to drive the knuckle in the general width direction of the vehicle, so as to adjust the rear wheel camber angle and toe angle. The knuckle is linked to the trailing arm via linking portions enabling turning of the knuckle in a direction of changing the rear wheel camber angle and toe angle. A turning axis defined by the linking portions is set so as to be tilted with respect to the longitudinal direction of the vehicle. Particularly, the turning axis defined by the linking portions is set so as to be tilted with respect to the longitudinal direction of the vehicle in side view.

An object of the present invention is to provide a steering system which does not cause the driver to feel the steering reactive force shock when the operation of the steering wheel is stopped, and which enables the driver to operate the steering wheel comfortably. In order to achieve the above object, there is provided a steering system in which a transfer ratio of a steering angle of a steering wheel to a turning angle of a turning wheel is changed by a variable transfer ratio mechanism, and an auxiliary power is generated during steering by an electric power steering, including: a transfer ratio variable motor for changing the transfer ratio, in which a steering angular velocity of the steering wheel is calculated, and when an absolute value of the steering angular velocity becomes equal to or less than a predetermined value, a current value flowing through the transfer ratio variable motor is set to zero.

Steering system

In a steer-by-wire steering control device for a vehicle using a model following control based on yaw rate or lateral acceleration, the target steering angle(s) of front wheels and/or rear wheels (Sfbs, Srbs) are corrected according a roll rate (Rre) of the vehicle which may be either detected or estimated from a lateral acceleration or yaw rate. Thereby, the roll rate gain can be reduced, and the damping property and response property of the yaw rate can be improved.

Steering control device

There is provided a steering system allowing a comfortable steering operation even if a driver quickly turns a steering wheel when a transfer ratio is quickened in a low vehicle speed range. In the steering system that changes the transfer ratio of a steering angle of the steering wheel to a turning angle of a turning wheel by a variable transfer ratio mechanism and generates auxiliary power by an electric power steering unit, a variable transfer ratio mechanism controlling ECU has a switching section for switching a transfer ratio modulating mode of setting a rotational angle of a transfer ratio variable motor used in the variable transfer ratio mechanism so that the transfer ratio is set at a target transfer ratio corresponding to vehicle speed with a steering torque modulating mode of reducing an electric current for driving the motor so as to reduce steering power of the steering wheel.

This steering apparatus is capable of changing and controlling a ratio of a turning angle of a steered wheel to an operation amount of an operation member, wherein the ratio is reduced when an operation speed of the operation member is higher than a predetermined operation speed; and if the operation speed is reduced thereafter, then the reduced ratio is maintained.

Steering apparatus

A first rotor () and a second rotor () are arranged in a coaxial and mutually rotatable relationship and are provided with a first driven gear () and a second driven gear (), respectively. A drive shaft () is also provided with a first drive gear () and a second drive gear () which are commonly connected to an output shaft of an electric motor (), and mesh with the first and second driven gears, respectively, at slightly different gear ratios. The first and second rotors are connected via a thread feed mechanism () that converts a relative rotation between the first and second rotors into an axial linear movement between the first and second rotors that is used for changing a distance between a vehicle body part and a corresponding end of a suspension spring in a vehicle height adjusting system (). Owing to a differential rotation of a high gear ratio between the first and second rotors, a significant torque amplification is possible with a compact arrangement. The use of spur gears instead of a worm gear mechanism minimizes torque loss.

Vehicle height adjusting system

A vehicle steering system includes a steering wheel, a steering angle detector that detects a steering angle of the steering wheel, a steering angular speed calculator that calculates a steering angular speed of the steering wheel, a vehicle speed detector that detects a vehicle speed, a target rudder angle finding device, a modifying device, and an actuator. The target rudder angle finding device finds a target rudder angle based on the steering angle, the steering angular speed and the vehicle speed. The target rudder angle is a sum of a proportional term proportional to the steering angle and a differential term proportional to the steering angular speed. The modifying device modifies the differential term when the steering angular speed is negative to reduce a value of the differential term from that when positive. The actuator turns at least one wheel of the vehicle in accordance with the target rudder angle.

Vehicle steering system, vehicle including the same and method for turning wheel of vehicle

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 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 vehicle steering system includes a rack and pinion mechanism having a pinion functionally coupled to a steering wheel and a rack meshing with the pinion and functionally coupled to steerable wheels and a mechanism for displacing the rack in the axial direction thereof to steer the steerable wheels independently of steering operation initiated by the steering wheel. The rack and pinion mechanism comprises a variable gear ratio rack and pinion mechanism having a variable gear ratio, which is the lowest when the steering wheel is in a neutral position and becomes higher as the steering angle of the steering wheel becomes large.

Vehicle steering system

In a front and rear wheel steering system for steering rear wheels of a vehicle at a certain ratio to front wheels of the vehicle, the rear wheel steering angle is determined according to the steering input and/or the operating conditions of the vehicle, additionally, taking into account the kind of the particular tires that are being used. In particular, it is advantageous to distinguish between normal tires and studless tires as they demonstrate significantly different properties. The kind of tires can be identified either by computing the frictional coefficient of the road surface or by a manual switch. Thus, the handling of the vehicle can be kept unchanged without regard to the kind of the tires that are being used.

Adaptive front and rear wheel steering system

The road friction is determined from the deviation of the estimated yaw rate under a standard condition from the actually measured yaw rate. The system for determining the road friction includes a parameter identification unit which determines a parameter of a variation term defined in the transfer function of the model for the vehicle response. The variation term may consist of a zero-th order or a first-order transfer function which would not cause any large computation load, and may not depend on the vehicle speed. The determined road friction may be used for controlling the rear wheel steering angle of a four wheel steering vehicle.

System for estimating the road surface friction

A hydroplaning detection system comprising AM specific frequency component extraction AM, which comprises a band-pass filter for extracting signal components PS in a main frequency band corresponding to the wheel rotation speed or the vehicle speed from wheel rotation speed signals, and a band-pass filters for respectively extracting signal components PL in other frequency bands, and AM determining the occurrence of hydroplaning based on the ratio PL/PS between the signal components PS in the main frequency band and the signal components PL in other frequency bands.

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Wako, Japan

Yoshimitsu Akuta