Honda Giken Kogyo Kabushiki Kaisha

Honda Motor Co., Ltd.

Honda Giken Kabushiki Kaisha

Yoshinobu Mukai

Yoshiki Noro

Osamu Tsurumiya

Shinzi Hironaka

Yasuo Shimizu

Hiroaki Horii

Kazuhisa Watanabe

Kyoji Hamamoto

Takao Kurosawa

Nobuo Sugitani

Fumihiro Morishita

Masaaki Kawano

Akio Kobayashi

Mitsunori Kawashima

Norifumi Tamura

Yoshifumi Banno

Shinji Hironaka

Shotaro Odate

Naotaka Kumakiri

Hisao Asaumi

Takashi Kuribayashi

Shigeru Yamawaki

Kazutaka Saito

Yuki Endo

Yoshito Nakamura

Takeshi Iijima

Hirokazu Kitazawa

Kunio Shirakawa

Susumu Ohta

Masanori Takagi

Hiroki Sagami

Naohiro Sakamoto

Ryota Mose

Shoji Hamada

Hironori Aoyagi

Takafumi Ozaki

Masahiko Niki

Yasuhiro Nakano

Shigieru Yamawaki

Paul Baron

Kazuhiko Satou

Tatsuya Amano

An automatic driving control device changes the degree of automation during an automatic control or the degree of change to the vehicle behavior during the automatic control, on the basis of the peripheral monitoring state of a driver, and on the basis of how easy it is to perform a switching operation for prioritizing manual control over automatic control. Thus, the automatic driving control device makes it possible to ensure the convenience of automatic control, by dynamically changing the degree of automation or the degree of change to the vehicle behavior, without uniformly stopping automatic control of steering and acceleration.

Automatic driving control device

An electric power steering device includes a steering angle reference yaw rate calculation section that calculates a steering angle reference yaw rate by using a speed of a vehicle and a steering angle of a steering wheel, a torque estimation device that estimates a self-aligning torque (SAT) generated in a turning wheel of the vehicle on the basis of a measured yaw rate or the steering angle reference yaw rate, the absolute value of which is smaller, and the speed of the vehicle, and estimates a required assist torque on the basis of the estimated SAT, and an abnormality determination section that determines whether or not a steering torque sensor is abnormal. If the steering torque sensor is abnormal, an EPS control device controls drive of an assist motor using the required assist torque estimated by the torque estimation device, in place of a steering torque.

Electric power steering device

A vehicle steering system can keep the comfort of steering feeling for a driver, even in a situation, such as traveling on a cant road or in a crosswind, where a unidirectional-drift behavior of a vehicle occurs, and includes an electric motor, a steering angle sensor, a steering torque sensor, and an EPS_ECU that controls driving power of the electric motor, when the vehicle is traveling straight, based on vehicle information including a steering torque and a steering angle, to perform a control for applying an assist torque to a steering system. The EPS_ECU includes an integrating unit for calculating an integrated torque value obtained by integrating the steering torque, and a steering effort assist controlling unit for performing an anti-unidirectional-drift control over the driving power of the electric motor, when the integrated torque value exceeds the threshold value, so as to cancel the unidirectional-drift behavior of the vehicle.

Vehicle steering system

An electric power steering apparatus includes an electric motor configured to apply an assist torque to an steering system of a motor vehicle, a rotational quantity detection unit for detecting a rotational quantity of the electric motor while the rotational quantity detection unit is in a wake-up state, and a counter electromotive voltage detection unit for detecting a counter electromotive voltage of the electric motor. When a main power supply of the electric power steering apparatus is turned off, the rotational quantity detection unit enters into a sleep state, and when a prescribed condition is established based on the counter electromotive voltage detected by the counter electromotive voltage detection unit, the rotational quantity detection unit transitions from the sleep state to the wakeup state.

Electric power steering apparatus

An electric motor is driven with high output at the time of low-speed running, and a steering at a high resolution is enabled at the time of fast-speed running. An electric power steering device causes the electric motor to generate auxiliary torque in accordance with the largeness of steering wheel torque by the steering operation of a wheel made by a driver and reduces the steering wheel torque to the driver. A control device drives, based on a vehicle-speed signal (Vs) from a speed sensor, the electric motor with high output at the time of low-speed running, and enables steering at a high resolution at the time of fast-speed running without increasing an electric-motor output.

The rotation angle detection device detects the rotation angle of a rotary member by employing, at the least, either a sine wave signal or a cosine wave signal that is generated as the rotary member is rotated, and employs a change per unit time in the sine wave signal or cosine wave signal to determine whether an output abnormality has occurred in the rotation angle detection device. Further, this rotation angle device is employed to detect the motor angle of an electric power steering apparatus.

Rotation angle detection device and electric power steering apparatus employing the same

In a steering handle grasped and rotated by both hands of a driver, an axis of a steering shaft included in the steering handle is inclined so as to be higher in level in a forward direction of a vehicle body, and a left grip grasped by a left hand and a right grip grasped by a right hand are rotatable in opposite directions about an axis perpendicular to the axis of the steering shaft. Accordingly, an upper half of the driver's body sitting on a seat and leaning backwards and a plane of rotation of the steering handle are substantially parallel to each other, thereby ensuring that the driver can rotate the steering handle without stretching and withdrawing his or her arms. Moreover, when the steering handle is rotated, the driver's wrists can be prevented from being twisted unnaturally, leading to an easy steering operation.

Steering handle and steering system

A control apparatus for an electric power steering system is provided, which controls a motor for applying assist steering torque to a steering line of a vehicle at least according to steering torque signal of the steering line, vehicle velocity signal and motor current signal. The control apparatus includes a target current controller for setting target current signal for driving the motor, a deviation calculator for computing a deviation between the target current and motor current signals, a deviation adjuster for adjusting the deviation with a variable gain according to the vehicle velocity signal, a proportional element for executing proportional control for the motor, an integral element for executing integral control for the motor and an gain adjuster for adjusting the gain according to a differential of the steering torque signal.

Control apparatus for an electric power steering system

An electric power steering control device includes a memory. The memory is accommodated in the electric power steering control device mounted on a vehicle, and permits rewrite and storage of data. Transmitting a signal from an external of the vehicle allows the data stored in the memory to be rewritten.

Electric power steering control device

An electric power steering apparatus using a brushless motor is disclosed. The electric power steering apparatus has a microcomputer for calculating a target current to the brushless motor on the basis of a torque signal outputted from a steering torque detecting part. The microcomputer has a table stored in ROM. The microcomputer calculates the angular position of the brushless motor by referring to the table on the basis of a signal outputted by a resolver.

An electric power steering apparatus is provided, which includes a steering torque sensor for detecting steering torque exerted on a steering system, a motor for exerting assist steering torque on the steering system, a motor current sensor for detecting drive current of the motor, a target current setting section for determining target current to be supplied for the motor based on the steering torque, a feedback control section for executing feedback control based on a deviation between the target current and the drive current of motor and a feedforward control section for executing feedforward control based on the target current. The apparatus has a feature that gain of the feedforward control is adapted to be greater as the speed of a vehicle increases.

A current detecting apparatus comprises a determining unit which determines whether the electric potential of a first node or a second node is in a predetermined range. When the condition that the electric potential is not in the predetermined range continues longer than the predetermined period of time, the determining signal indicating the damage occurrence is outputted. Accordingly, the damage of the constituting elements can exactly be determined with the relatively simple configuration in a short time.

Current detecting apparatus and electric motor control apparatus

An electric power steering apparatus includes a control unit for outputting an electric motor control signal V to control an electric motor for adding an auxiliary steering torque, in response to at least the manual steering torque signal T from a torque sensor TS. The control unit carries out a control to limit a maximum value of the electric motor control signal V in response to an electric motor current signal IMO sent from an electric motor current detecting unit . The control unit includes a maximum value limitation indicating unit for measuring the number of times of a maximum value limitation of the electric motor control signal V and has such a structure that conditions for starting the maximum value limitation of the control signal V are set to be more strict at a first time than those at a second time and thereafter.

The controller possesses a reference torque signal setting unit which generates a reference signal which becomes high when the detected signal becomes high based on at least the signal detected from the steering torque sensor; a correction torque signal setting unit which generates a correction torque signal (D *R *R ), which becomes high when the detected signal becomes high based on at least the signals detected from the revolution number sensor for the electric motor and from the vehicle speed sensor; and a target torque signal calculator which subtracts the correction torque signal from the reference torque signal (D *R *R ) to output a target torque signal (D &plus;&minus;D *R *R ) to the electric motor; and the controller also making the correction torque signal high when failure of the vehicle speed sensor is detected. For this reason, even if the vehicle speed sensor fails, light steering operation can be performed at a low vehicle speed range and the stability of the steering system can be obtained at a high vehicle speed range.

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Wako, Japan

Yoshinobu Mukai