The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Nov. 01, 2022
Filed:
Feb. 07, 2020
Toyota Jidosha Kabushiki Kaisha, Toyota, JP;
Takahiro Okano, Chiryu, JP;
Takafumi Sato, Obu, JP;
TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota, JP;
Abstract
A steering system for a vehicle according to an example in the present disclosure includes a steering mechanism that is mechanically disconnected from a steering wheel to cause a driving wheel to be turned by a turning motor, and a control device that provides a motor command value to the turning motor. The control device has a two-degree-of-freedom control system including a feed-forward model for converting a target turning angle into a feed-forward value of the motor command value, and a feedback model for converting a difference between the target turning angle and an actual turning angle into a feedback value of the motor command value. A transfer function describing the feed-forward model contains a variable coefficient. The control device changes the variable coefficient of the transfer function based on information about road surface reaction.