Jtekt Corporation

Koyo Seiko Company, Ltd.

Toyoda Koki Kabushiki Kaisha

Favess Co., Ltd.

Yuji Kariatsumari

Yoshinobu Shimizu

Hayato Komatsu

Terutaka Tamaizumi

Tatsuma Kouchi

Takeshi Takaki

Shingo Maeda

Takeshi Ueda

Yasuyuki Yoshii

Yuichi Miura

Shigeki Nagase

Isao Namikawa

Masaya Segawa

Hiroshi Sumasu

Kozo Niimi

Yoshihiro Itatsu

Takashi Kojima

Masashi Hattori

Toshiaki Oya

Ken Matsubara

Hideki Higashira

Hiroaki Kaji

Noboru Niguchi

Satoshi Shinoda

So Saito

Kohei Moriki

Akira Tanizawa

Yasuyuki Yoshi

A control device includes a processor. The processor is configured to perform a route acquisition process for acquiring route information indicating a target route of a vehicle. The processor is configured to perform a behavior optimization process for correcting, based on at least one of a plurality of state quantities indicating a behavior of the vehicle during traveling, each of a left turning command value and a right turning command value such that the behavior of the vehicle becomes a target behavior. The processor is configured to perform a locus stabilization process for correcting, based on at least one of the state quantities indicating the behavior of the vehicle during traveling, a steering command value such that the vehicle travels on the target route.

Control device and turning device

A control device includes an electronic control unit. The electronic control unit determines a right steering command value and a left steering command value. The electronic control unit acquires path information indicating a target path for the vehicle. The electronic control unit corrects a steering command value such that the vehicle travels along the target path. The electronic control unit corrects the right steering command value and the left steering command value so as to bring the distribution ratio between a skid angle of a right steered wheel and a skid angle of a left steered wheel to a target distribution ratio.

Control device and steering device

A warning device for a vehicle includes a warning vibration wave generator and a vibration applying device. For each of a plurality of vehicle conditions, the warning vibration wave generator generates a warning vibration wave having a frequency that varies with the vehicle speed detected by a vehicle speed sensor, and that differs for each vehicle condition at the same vehicle speed. Based on the warning vibration wave generated by the warning vibration wave generator, the vibration applying device applies a warning vibration corresponding to the warning vibration wave to a steering member.

Warning device generating warning vibration wave for vehicle with torque detector

In an electric power steering system, a low-pass filter executes a low-pass filtering process on a detected steering torque value detected by a torque sensor. A steering torque deviation computing unit computes a deviation &#x394;T between a detected steering torque value T* obtained through the low-pass filtering process and the detected steering torque value detected by the torque sensor. A PI control unit generates a vibration compensation value used to lead the detected steering torque value to the steering torque value obtained through the low-pass filtering process, by executing PI computation on the steering torque deviation computed by the steering torque deviation computing unit.

Electric power steering system

In a rotation angle detection device, when a condition that two sensors among three magnetic sensors sense one and the same magnetic pole for three consecutive sampling periods is satisfied, a rotation angle is computed based on output signals from the two sensors, sampled at three sampling timings. When the output signals sampled at the three sampling timings satisfy a prescribed requirement, an angular width error correction value corresponding to the magnetic pole sensed by the two sensors and amplitudes are computed, and stored in association with the magnetic pole. If the condition is not satisfied, the rotation angle is computed based on the information stored in a memory and the output signals from two sensors among the three magnetic sensors, the two magnetic sensors including one of the three magnetic sensors, which detects the magnetic pole of which the angular width error correction value is stored in the memory.

Rotation angle detection device

In a phase difference detector, a first phase difference computation unit computes a value of E(i)&#xb7;C corresponding to one and the same given magnetic pole sensed by the two magnetic sensors with use of six output signals sampled at three different timings while the two magnetic sensors are sensing the given magnetic pole when a rotary body is rotating. E is an angular width error correction value, and C is a phase difference between two signals. The first phase difference computation unit executes this process until values of E(i)&#xb7;C corresponding to all the magnetic poles are computed. After that, the first phase difference computation unit computes the phase difference between the output signals with use of the values of E(i)&#xb7;C corresponding to all the magnetic poles and the number (m) of the magnetic poles.

Phase difference detector and rotation angle detection device including the same

Rotation angle computation modes include a normal mode and a simple mode. In normal mode, a rotation angle of an input shaft is computed based on output signals from first and second magnetic sensors, which are sampled at two sampling timings. In simple mode, the rotation angle of the input shaft is computed based on the output signals from the first and second magnetic sensors, which are sampled at one sampling timing, and an amplitude ratio between the output signals from the magnetic sensors set in advance. After a power supply is turned on, the rotation angle is computed in the simple mode until a condition that the rotation angle of the input shaft can be computed in the normal mode even if the immediately preceding value of the rotation angle of the input shaft is not present is satisfied. Then, the rotation angle is computed in the normal mode.

Rotation angle detection device and electric power steering system including the same

In a rotation angle detecting device, a first magnetic sensor and a second magnetic sensor are disposed at an interval of an electrical angle of 120 degrees around a rotation center axis of a rotor. An output signal of the first magnetic sensor is expressed by V=sin &#x3b8;, and an output signal of the second magnetic sensor is expressed by V=sin(&#x3b8;+120). A determination device determines whether both the magnetic sensors are normal, or there is a failure in at least one of the magnetic sensors, based on whether an expression of L&#x2266;V+V+V&#xb7;V&#x2212;0.75&#x2266;U is satisfied, where L is a lower limit and U is an upper limit.

Rotation angle detecting device

Sinusoidal signals (S, S) having a phase difference of 120&#xb0; are output from two magnetic sensors in accordance with rotation of an input shaft. A first rotation angle computation unit computes a rotation angle &#x3b8;(n) on the basis of output signals S(n), S(n&#x2212;1), S(n), S(n&#x2212;1) from the magnetic sensors, which are sampled at two sampling timings. At this time, the first rotation angle computation unit computes the rotation angle &#x3b8;(n) on the assumption that there are no variations of amplitudes of the output signals (S, S) from each one of the two sensors due to temperature changes between the two sampling timings.

Angular widths of respective magnetic poles of a detection rotor are stored and divisions are set for respective magnetic pole pairs. Based on output signals from first and second magnetic sensors, a rotation angle computation unit computes first and second rotation angles that are rotation angles within the corresponding division. Based on the angular widths, the rotation angle computation unit identifies the magnetic pole sensed by the first magnetic sensor and computes a first absolute rotation angle using the first rotation angle. Based on the identified magnetic pole and the second rotation angle, the rotation angle computation unit computes a second absolute rotation angle. The rotation angle of the detection rotor is computed based on the first and second absolute angles.

Rotation angle detection device compromising

In a warning device for a vehicle, a basic target current value setting unit sets a basic target current value based on a steering torque and a vehicle speed. When a lane deviation determining unit determines that there is a high possibility that a vehicle will deviate from a lane, a warning vibration wave generator generates a warning vibration wave containing a plurality of frequency components. A target current value is computed by adding the warning vibration wave to the basic target current value. A motor current to be applied to an electric motor is controlled so as to approach the target current value.

Warning device for vehicle

A road friction coefficient estimating unit calculates a tire sideslip angle and a cornering force, and estimates a road friction coefficient on the basis of the ratio of the calculated cornering force to the calculated tire sideslip angle. A vehicle travels on multiple road surfaces that differ in road friction coefficient, and tire sideslip angles and cornering forces on the road surfaces are detected in advance. The road friction coefficient estimating unit stores, in a memory, a correlation among the detected tire sideslip angles, the detected cornering forces, and the road friction coefficients in the form of numerical values or a mathematical expression, and estimates a road friction coefficient using the correlation stored in the memory.

Road friction coefficient estimating unit and road friction coefficient estimating method

An electric power steering system calculates a motor resistance Rm using a resistance map, and calculates an estimated inducted voltage based on a motor current and a motor voltage. If the estimated induced voltage is determined as being equal to or smaller than a determination value that is set in accordance with the current level, the electric power steering system calculates a motor resistance (estimated motor resistance Rma) and updates the resistance map based on the estimated motor resistance Rma.

A motor control device has characteristic information that indicates a correlation between a rotation speed and a current of a motor. The motor control device sets a rotation speed characteristic value that is a reference value of the rotation speed of the motor and a current characteristic value that is a reference value of the current of the motor on the basis of the characteristic information. The motor control device calculates an estimated rotation speed on the basis of a measured value of a voltage that is applied to the motor, a measured value of the current, the current characteristic value, a voltage characteristic value, the rotation speed characteristic value and a counter-electromotive force constant.

Growing community of inventors

Yamatotakada, Japan

Yuji Kariatsumari