JPH0314766A - Motor-driven power steering device for car working also as automatic steering device - Google Patents
Motor-driven power steering device for car working also as automatic steering deviceInfo
- Publication number
- JPH0314766A JPH0314766A JP1145954A JP14595489A JPH0314766A JP H0314766 A JPH0314766 A JP H0314766A JP 1145954 A JP1145954 A JP 1145954A JP 14595489 A JP14595489 A JP 14595489A JP H0314766 A JPH0314766 A JP H0314766A
- Authority
- JP
- Japan
- Prior art keywords
- steering
- memory
- electric motor
- steering device
- controller
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 description 3
- 230000000881 depressing effect Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000000994 depressogenic effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
Landscapes
- Steering Control In Accordance With Driving Conditions (AREA)
- Power Steering Mechanism (AREA)
Abstract
Description
【発明の詳細な説明】
産業上の利用分野
本発明は電動式パクステアリング装置兼自動操舵装置に
関するものである．
従来の技術
自動車において、転舵時のハンドル操作の軽減をはかる
ために転舵操作時の操舵トルクを検出するトルクセンナ
を設け、これにより転舵トルクを電気量に変換して、こ
の電気量の変化に応じて電動装置の出力を可変的に制御
し操舵トルクに応じたパワアシストを行うようにした電
動式パフステアリング装置は既に開発されている（例え
ば特開昭５９−１９５４７０号公報参照）．
発明が解決しようとする課題
本発明は上記のような電動式パワステアリング装置に用
いられる電動装置の制御が油圧装置によるものに比べて
簡単であることに着目してなされたもので、バワアシス
ト用の電動装置を，車庫入れ時や縦列駐車時等のように
ほぼ一定した走行軌跡を取ることが必要とされると共に
その操作に相当の熟練を要する場合に対する操舵の動力
源として利用することにより、車庫入れや縦列駐車を容
易に行い得る自動操舵装置を提供するこを目的とするも
のである．課題を解決するための手段
本発明は、自動車用電動式パワステアリング装置兼自動
操舵装置を転舵操作に関連して電動モータへの電圧又は
電流の制御を行い該電動モータの回転により操舵機構へ
のパワアシストを与えるバワアシスト用制御手段と，記
憶モードスイッチのオン操作により基準停車位置からの
車両の移動距離と該移動距離に応じた転舵角とを刻々検
出して記憶する信号処理および記憶手段と、自動操舵モ
ードスイッチのオン操作により上記信号処理および記憶
手段が記憶した記憶内容に従って上記電動モータの制御
を行い該電動モータの回転により一定の操舵パターンに
対する自動操舵を行う自動操舵用制御手段とから構威し
たものである．
作 用
上記により指定された駐車位置への駐車等のように操舵
方法が一定している場合、一度基準停東位置からの移動
距離と該移動距離に応じた転舵角とを記憶させれば、そ
の後は基準停車位置に停車し自動操舵モードスイッチを
オンとしアクセルペダルを踏込むという簡単な操作で自
動操舵が可能となり煩しいハンドル操作から解放される
だけでなく、自動操舵モードスイッチをオフとすること
により通常の電動式パワステアリング装置の機能を果さ
せることができる．
実施例
以下本発明の実施例を附図を参照して説明する．
図は本発明の実施例を示すブロックダイヤグラムであり
、ｌは操舵トルクを検出する操舵トルクセンサ、２は車
速を検出し車速に応じたパルスを発する車速センサ、３
は電動式バヮステアリング装置のコントローラであり、
通常のパワアシスト作動ではコントローラ３は操舵トル
クセンサ１が検出した操舵トルクが大となるに従って次
第に大となるモータ電流指令値を発すると共に該モータ
電流指令値を車速センサ２が検出した車速に応じて可変
制御するよう構成されている．
４は上記コントローラ３のモータ電流指令値に基き回転
し操舵装置５にパワアシストを与える電動モータ、６は
該電動モータ４に流れるモータ電流を検出する電流検出
部であり、該電流検出部６を介してコントローラ３はフ
ィードバック制御を行う．
７は車両の移動距離を検出する車輪回転角センサ、８は
転舵角を検出する操舵角センサ、９は記憶モードスイッ
チ、１０は自動操舵モードスイッチである．
コントローラ３は上記記憶モードスイッチ９のオン操作
により記憶モードとした後において、運転者の操舵によ
る車庫入れ或は縦列駐車時上記車輪回転角センサ７が検
出した車両の移動距離および該移動距離に応じて操舵角
センサ８が検出した転舵角を刻々コントローラ３の記憶
装置３ａに記憶するよう構成されている．コントローラ
３は上記自動操舵モードヌイッチ１０のオン操作により
自動操舵モードとした時車輪回転角センサ７が検出した
車両の移動距離と該移動距離に応じて操舵角センサ８か
ら得られる転舵角とが上記コントローラ３の記憶装置３
ａから供給される車両の移動距離と該移動距離に応じた
転舵角とに等しくなる制御を行うよう構成されている．
上記のように構威された自動操舵装置の記憶モード時お
よび自動操舵モード時における作動は次の通りである．
先ず車庫入れ或は縦列駐車作動を開始すべき基準停車位
置を設定し車両を該基準停車位置に停車させた後に記憶
モードスイッチ９をオン操作し記憶モードに切換える．
次に運転者の操舵による車庫入れ或は縦列駐車作動を開
始すると、上記基準停車位置からの車両の移動距離と該
移動距離に応じた転舵角とは車輪回転角センサ７および
操舵角センサ８により検出され、割込処理によりコント
ローラ３の記憶装１ｆｉ３ａに刻々記憶されるが、この
とき操舵トルクセンサ１および車速センサ２が検出した
操舵トルクおよび車速に甚くコントローラ３によるノく
フアシスト作動は通常通り行われる．
次に車庫入れ或は縦列駐車作動を自動操舵により行いた
いときは車両を予じめ設定した基準停車位置に停車させ
た後に自動操舵モードスイッチ１０のオン操作により自
動操舵モードとする．この状態で図示しない変速レバー
を後退側に切換え同じく図示しないアクセルペダルを踏
込むと車両は車庫入れ或は縦列駐車作動を開始する．
このときコントローラ３は、車輪回転角センサ７が検出
した車両の移動距離と該移動距離に応じて操舵角センサ
８から得られる転舵角とをコントローラ３の記憶装１１
３ａから供給される車両の移動距離と該移動距離に応じ
た転舵角とに等しくなるよラ電動モータ４を制御するの
で、該車両は記憶モード時にコントローラ３の記憶装置
３ａに記憶された車両の移動距離と該移動距離に応じた
転舵角通りに自動操舵される．
上記において自動操舵から通常のパワアシスト作動への
復帰は車庫入れ或は縦列駐車作動が終了したときに運転
者が自動操舵モードスイッチ１０をオフとしてもよく、
又は記憶モード時にコントローラ３の記憶装１ｔ３ａが
記憶した記憶内容が終了したとき上記自動操舵モードス
イッチ１０が自動的にオフ作動するようにしてもよい．
尚上記実施例では車両の移動距離を求めるのに車輪回転
角センサ７を用いた例を述べたが、車速を検出し該車速
に応じたパルスを発生する車速センサ２のパルス数から
求めてもよい．又上記実施例では操舵トルクセンサと車
速センサからの信号に基きパワアシストを行う電動式パ
フステアリング装置に適用した例を述べたが，転舵角を
検出する操舵角センサを設け該操舵角センサが検出した
転舵角に応じて復元制御を行う電動式パワステアリング
装置にも適用し得ることは言うまでもなく、この場合に
は操舵角センサの新設はチ要となる．
発明の効果
上記のように本発明によれば、自動車用電動式パワステ
アリング装置兼自動操舵装置を、転舵操作に関連して電
動モータへの電圧又は電流の制御を行い該電動モータの
回転により操舵機構へのパワアシストを与えるパワアシ
スト用制御手段と、記憶モードスイッチのオン操作によ
り基準停車位置からの車両の移動距離と該移動距離に応
じた転舵角とを刻々検出して記憶する信号処理および記
憶手段と、自動操舵モードスイッチのオン操作により上
記信号処理および記憶手段が記憶した記憶内容に従って
上記電動モータの制御を行い該電動モータの回転により
一定の操舵パターンに対する自動操舵を行う自動操舵用
制御手段とから構成したことにより、車庫入れ時や縦列
駐車時等のように操舵方法が一定している場合、一度基
準停車位置からの移動距離と該移動距離に応じた転舵角
とを記憶させれば、その後は基準停車位置に停車し自動
操舵モードスイッチをオンとしアクセルペダルを踏込む
という簡単な操作で自動操舵が可能となり煩わしいハン
ドル操作から解放されるだけでなく，自動操舵モードス
イッチをオフとすることにより通常の電動式パワステア
リング装置の機能を果させることができるもので、電動
式パワステアリング装置と自動操舵装置との間の部品共
用化が図れ構造が簡単となること等と相俟って実用上多
大なる効果をもたらし得るものである．DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application The present invention relates to an electric steering device and automatic steering device. Conventional technology In automobiles, in order to reduce the need for steering wheel operations during steering, a torque sensor is provided to detect the steering torque during steering operations, and this converts the steering torque into an electrical quantity and detects changes in this electrical quantity. An electric puff steering device has already been developed that variably controls the output of the electric device according to the steering torque and provides power assist according to the steering torque (for example, see Japanese Patent Application Laid-Open No. 195470/1983). Problems to be Solved by the Invention The present invention has been made with the focus on the fact that the control of the electric device used in the electric power steering device as described above is simpler than that of a hydraulic device. By using an electric device as a power source for steering when it is necessary to take a nearly constant traveling trajectory and require considerable skill to operate, such as when parking in a garage or parallel parking, it is possible to The purpose of this is to provide an automatic steering system that allows easy parking and parallel parking. Means for Solving the Problems The present invention provides an electric power steering device/automatic steering device for an automobile that controls the voltage or current to an electric motor in connection with a steering operation, and controls the voltage or current to a steering mechanism by rotation of the electric motor. a power assist control means for providing power assist; and a signal processing and storage means for momentarily detecting and storing the distance traveled by the vehicle from the reference stopping position and the steering angle corresponding to the distance traveled by turning on the storage mode switch. and an automatic steering control means that controls the electric motor according to the stored contents stored in the signal processing and storage means by turning on an automatic steering mode switch, and performs automatic steering according to a certain steering pattern by rotating the electric motor. It was constructed from Operation When the steering method is constant, such as when parking at the parking position specified above, once the distance traveled from the reference stop east position and the steering angle corresponding to the distance traveled are memorized. After that, the vehicle can be automatically steered by simply stopping the vehicle at the standard stopping position, turning on the automatic steering mode switch, and depressing the accelerator pedal.This not only frees the driver from the troublesome steering wheel operation, but also allows the automatic steering mode switch to be turned off. By doing so, it is possible to perform the functions of a normal electric power steering device. Examples Examples of the present invention will be explained below with reference to the accompanying drawings. The figure is a block diagram showing an embodiment of the present invention, where l is a steering torque sensor that detects steering torque, 2 is a vehicle speed sensor that detects vehicle speed and emits a pulse according to the vehicle speed, and 3
is a controller for an electric ba-steering device,
In normal power assist operation, the controller 3 issues a motor current command value that gradually increases as the steering torque detected by the steering torque sensor 1 increases, and also adjusts the motor current command value according to the vehicle speed detected by the vehicle speed sensor 2. It is configured for variable control. 4 is an electric motor that rotates based on the motor current command value of the controller 3 and provides power assist to the steering device 5; 6 is a current detection section that detects the motor current flowing through the electric motor 4; The controller 3 performs feedback control through the controller. 7 is a wheel rotation angle sensor that detects the distance traveled by the vehicle, 8 is a steering angle sensor that detects the turning angle, 9 is a memory mode switch, and 10 is an automatic steering mode switch. After setting the memory mode by turning on the memory mode switch 9, the controller 3 operates according to the distance traveled by the vehicle detected by the wheel rotation angle sensor 7 and the distance traveled when the vehicle is parked in a garage or parallel parked by steering by the driver. The steering angle detected by the steering angle sensor 8 is stored in the storage device 3a of the controller 3 every moment. When the controller 3 is set to automatic steering mode by turning on the automatic steering mode switch 10, the vehicle travel distance detected by the wheel rotation angle sensor 7 and the turning angle obtained from the steering angle sensor 8 according to the travel distance are as described above. Storage device 3 of controller 3
It is configured to perform control such that the travel distance of the vehicle supplied from a and the steering angle corresponding to the travel distance are made equal. The operations of the automatic steering system configured as described above in memory mode and automatic steering mode are as follows. First, a reference stopping position at which to start parking or parallel parking is set, and after the vehicle is stopped at the reference stopping position, the memory mode switch 9 is turned on to switch to the memory mode.
Next, when the driver starts parking the garage or parallel parking by steering, the distance traveled by the vehicle from the reference stopping position and the steering angle corresponding to the distance traveled are determined by the wheel rotation angle sensor 7 and the steering angle sensor 8. is detected and stored moment by moment in the memory device 1fi3a of the controller 3 through interrupt processing; It is carried out as usual. Next, when it is desired to park the vehicle in a garage or perform a parallel parking operation by automatic steering, the vehicle is stopped at a preset reference stopping position and then the automatic steering mode switch 10 is turned on to enter automatic steering mode. In this state, when the gear shift lever (not shown) is switched to the reverse side and the accelerator pedal (also not shown) is depressed, the vehicle starts parking in the garage or parallel parking. At this time, the controller 3 stores the moving distance of the vehicle detected by the wheel rotation angle sensor 7 and the steering angle obtained from the steering angle sensor 8 according to the moving distance in the memory device 11 of the controller 3.
Since the electric motor 4 is controlled so that the travel distance of the vehicle supplied from the controller 3a is equal to the steering angle corresponding to the travel distance, the vehicle is in the storage mode when the vehicle is stored in the storage device 3a of the controller 3. The vehicle is automatically steered according to the travel distance and the steering angle according to the travel distance. In the above, the return from automatic steering to normal power assist operation may be performed by the driver turning off the automatic steering mode switch 10 when parking in the garage or parallel parking operation is completed.
Alternatively, the automatic steering mode switch 10 may be automatically turned off when the memory contents stored in the memory device 1t3a of the controller 3 in the memory mode are completed. In the above embodiment, the wheel rotation angle sensor 7 is used to determine the travel distance of the vehicle, but it can also be determined from the number of pulses of the vehicle speed sensor 2, which detects the vehicle speed and generates pulses corresponding to the vehicle speed. good. Further, in the above embodiment, an example was described in which the application is applied to an electric puff steering device that performs power assist based on signals from a steering torque sensor and a vehicle speed sensor. It goes without saying that this method can also be applied to electric power steering devices that perform restoration control according to the detected steering angle, and in this case, installing a new steering angle sensor is essential. Effects of the Invention As described above, according to the present invention, an electric power steering device/automatic steering device for an automobile can be controlled by controlling the voltage or current to the electric motor in connection with steering operation, and controlling the voltage or current to the electric motor by the rotation of the electric motor. A power assist control means that provides power assist to the steering mechanism, and a signal that momentarily detects and stores the moving distance of the vehicle from a reference stopping position and the turning angle corresponding to the moving distance by turning on a storage mode switch. Automatic steering that controls the electric motor according to the memory content stored by the signal processing and storage means by turning on a processing and storage means and an automatic steering mode switch, and performs automatic steering according to a fixed steering pattern by rotating the electric motor. When the steering method is constant, such as when parking in a garage or parallel parking, the distance traveled from the reference parking position and the steering angle corresponding to the distance can be determined once. Once stored, automatic steering can be performed by simply stopping at the standard stopping position, turning on the automatic steering mode switch, and depressing the accelerator pedal.This not only frees you from troublesome steering wheel operations, but also allows automatic steering mode to be switched on. By turning it off, it is possible to perform the functions of a normal electric power steering device, and the structure can be simplified by allowing parts to be shared between the electric power steering device and the automatic steering device. Together, they can have great practical effects.
附図は本発明の一実施例を示すブロックダイヤグラムで
ある．
１・・・操舵トルクセンサ、２・・・重速センサ、３・
・・コントローラ、３ａ・・・記憶装置、４・・・電動
モータ、５・・・操舵装置、６・・・電流検出部、７・
・・車輪回転角センサ、８・・・操舵角センサ、９・・
・記憶モードスイッチ、１０・・・自動操舵モードスイ
ッチ．The attached figure is a block diagram showing one embodiment of the present invention. 1... Steering torque sensor, 2... Heavy speed sensor, 3...
... Controller, 3a... Storage device, 4... Electric motor, 5... Steering device, 6... Current detection section, 7.
...Wheel rotation angle sensor, 8...Steering angle sensor, 9...
・Memory mode switch, 10...Automatic steering mode switch.
Claims (1)
を行い該電動モータの回転により操舵機構へのパワアシ
ストを与えるパワアシスト用制御手段と、記憶モードス
イッチのオン操作により基準停車位置からの車両の移動
距離と該移動距離に応じた転舵角とを刻々検出して記憶
する信号処理および記憶手段と、自動操舵モードスイッ
チのオン操作により上記信号処理および記憶手段が記憶
した記憶内容に従って上記電動モータの制御を行い該電
動モータの回転により一定の操舵パターンに対する自動
操舵を行う自動操舵用制御手段とからなる自動車用電動
式パワステアリング装置兼自動操舵装置。A power assist control means that controls the voltage or current to the electric motor in connection with the steering operation and provides power assist to the steering mechanism by the rotation of the electric motor, and a power assist control means that controls the voltage or current to the electric motor in connection with the steering operation, and provides power assist to the steering mechanism by the rotation of the electric motor; a signal processing and storage means for momentarily detecting and storing the moving distance of the vehicle and the turning angle corresponding to the moving distance; and according to the memory contents stored by the signal processing and storage means by turning on the automatic steering mode switch. An electric power steering device and automatic steering device for an automobile, comprising an automatic steering control means that controls the electric motor and performs automatic steering according to a fixed steering pattern by rotating the electric motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1145954A JPH0314766A (en) | 1989-06-08 | 1989-06-08 | Motor-driven power steering device for car working also as automatic steering device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1145954A JPH0314766A (en) | 1989-06-08 | 1989-06-08 | Motor-driven power steering device for car working also as automatic steering device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0314766A true JPH0314766A (en) | 1991-01-23 |
Family
ID=15396874
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1145954A Pending JPH0314766A (en) | 1989-06-08 | 1989-06-08 | Motor-driven power steering device for car working also as automatic steering device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0314766A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2007037104A1 (en) * | 2005-09-29 | 2007-04-05 | Toyota Jidosha Kabushiki Kaisha | Parking assistance device and method of electric power delivery/reception between vehicle and ground apparatus |
| WO2007122704A1 (en) * | 2006-04-19 | 2007-11-01 | Fujitsu Limited | System for assisting entry and exit of occupant from vehicle |
| US7628247B2 (en) | 2004-02-16 | 2009-12-08 | Denso Corporation | Electric power steering device equipped with automatic steering function |
-
1989
- 1989-06-08 JP JP1145954A patent/JPH0314766A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7628247B2 (en) | 2004-02-16 | 2009-12-08 | Denso Corporation | Electric power steering device equipped with automatic steering function |
| WO2007037104A1 (en) * | 2005-09-29 | 2007-04-05 | Toyota Jidosha Kabushiki Kaisha | Parking assistance device and method of electric power delivery/reception between vehicle and ground apparatus |
| US8169340B2 (en) | 2005-09-29 | 2012-05-01 | Toyota Jidosha Kabushiki Kaisha | Parking assist device and a method for electric vehicle power transmission and reception between a vehicle and a ground apparatus |
| WO2007122704A1 (en) * | 2006-04-19 | 2007-11-01 | Fujitsu Limited | System for assisting entry and exit of occupant from vehicle |
| JPWO2007122704A1 (en) * | 2006-04-19 | 2009-08-27 | 富士通株式会社 | Vehicle entry / exit support system |
| JP4763778B2 (en) * | 2006-04-19 | 2011-08-31 | 富士通株式会社 | Vehicle entry / exit support system |
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