WO2007138772A1 - 電動パワーステアリング装置 - Google Patents
電動パワーステアリング装置 Download PDFInfo
- Publication number
- WO2007138772A1 WO2007138772A1 PCT/JP2007/054516 JP2007054516W WO2007138772A1 WO 2007138772 A1 WO2007138772 A1 WO 2007138772A1 JP 2007054516 W JP2007054516 W JP 2007054516W WO 2007138772 A1 WO2007138772 A1 WO 2007138772A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- steering
- assist
- torque
- abnormal
- assist command
- Prior art date
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/08—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to driver input torque
- B62D6/10—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to driver input torque characterised by means for sensing or determining torque
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
Definitions
- the present invention relates to an electric power steering apparatus mounted on an automobile or the like, and particularly relates to improvement of a steering feeling felt by a driver when a part of the apparatus main body breaks down.
- a device disclosed in Patent Document 1 is configured such that when an abnormality occurs in one phase of a motor of an electric power steering device, the current is smaller than usual, that is, the assist is limited to a smaller value. It will continue. As a result, the torque pulsation caused by the abnormality can be reduced, and the uncomfortable feeling felt by the driver can be reduced.
- Patent Document 2 what is disclosed in Patent Document 2 is that when a minor abnormality occurs in a part of the main body of the electric power steering apparatus, the normal assist gain is multiplied by a constant of 1 or less to obtain the magnitude of the assist. Is controlled to be smaller than usual, and the control is continued to be small, and is not limited to abruptly, but is gradually limited to a smaller level. According to this, since there is no sudden change, the uncomfortable feeling felt by the driver can be reduced.
- Patent Document 1 Japanese Patent Laid-Open No. 10-181617
- Patent Document 2 JP 2003-170857 A
- Patent Document 3 Japanese Patent No. 3600805
- the assist is limited to be smaller than usual, and the uncomfortable feeling caused by the torque pulsation due to the abnormality can be reduced.
- the assist is always limited to a small assist. For this reason, there is a problem that even if the steering operation requires a large amount of assistance for comfortable driving, the assisting load is small and the driver's steering burden increases.
- the achievable assist may be smaller than the target assist. In this case, the assist is smaller than the target size. Therefore, there is a problem that the driver's steering burden increases if the assist target value is kept small. For example, when one phase of the motor is short-circuited, braking torque is generated by the current flowing through the short-circuited portion, and when steering is performed quickly, the braking torque increases, which is less than the target assist.
- the present invention has been made in view of the above-described problems of the conventional apparatus, and predicts the driver's steering burden when an abnormality occurs in a part of the main body of the electric power steering apparatus. Therefore, by determining the magnitude of the assist by the motor according to the predicted magnitude of the steering burden, when the steering burden is predicted to be small, the assist is made smaller than usual and the driver's
- the objective is to provide an electric power steering device that can reduce the feeling of discomfort and increase the assist load to the same level as normal when the steering load is expected to be large, and can sufficiently reduce the steering load.
- An electric power steering device detects a torque sensor that detects a steering torque applied by a driver to a steering shaft, a motor that adds assist torque to assist steering to the steering shaft, and detects a vehicle speed.
- a vehicle speed sensor detects a steering torque applied by a driver to a steering shaft
- a motor that adds assist torque to assist steering to the steering shaft
- a vehicle speed sensor detects a steering torque detected by the torque sensor and a vehicle speed detected by the vehicle speed sensor, and an assist of the motor according to the assist command calculated by the assist command calculating means.
- An electric motor control device for controlling torque, an abnormality detection means for detecting an abnormality occurring in the electric parsing device main body, and any one of the rotational angular velocity of the motor, the steering torque, and the vehicle speed detected from the motor 1
- Steering load that predicts the driver's steering burden based on one or more signals
- a predicting means and when an abnormality is detected by the abnormality detecting means, in the first range where the steering burden predicted by the steering load predicting means is small, the abnormal-time assist command is made smaller than the normal time when there is no abnormality.
- the abnormal assist command is increased to be equal to that in normal time without any abnormality, and the motor is controlled in accordance with the abnormal assist command.
- the assist torque is controlled.
- the electric power steering apparatus supplements the steering shaft with a torque sensor for detecting a steering torque applied by the driver to the steering shaft.
- a motor for adding assist torque for assisting a vehicle speed sensor for detecting the speed of the vehicle, an assist command calculating means for calculating an assist command according to the steering torque detected by the torque sensor and the vehicle speed detected by the vehicle speed sensor, the assist
- An electric motor control device that controls the assist torque of the motor according to the assist command calculated by the command calculation means, an abnormality detection means that detects an abnormality that has occurred in the electric parsing device body, and a rotational angular velocity of the motor detected from the motor
- a steering load prediction means for predicting a driver's steering load based on one or more signals of the steering torque and the vehicle speed, wherein the steering load prediction means In the first range where the predicted steering load is small, the assist command at the time of abnormality is made smaller than the normal time when there is no abnormality, and the steering load prediction is performed.
- the abnormal assist command data is stored in advance, where the abnormal assist command is set to be as large as normal when there is no abnormality.
- An assist map is provided, and when an abnormality is detected by the abnormality detection means, the assist torque of the motor is controlled based on an assist command at the time of abnormality in the abnormality assist map.
- the driver's steering burden is predicted, and the magnitude of the assistance by the motor is reduced according to the predicted steering burden.
- the abnormality assist command is made smaller than normal when there is no abnormality, and torque pulsation due to the abnormality
- the abnormal assist command is increased to the same level as normal when there is no abnormality. The steering burden can be reduced sufficiently, and a comfortable steering feeling can be obtained even after an abnormality has occurred.
- FIG. 1 is a schematic configuration diagram showing an electric power steering apparatus according to Embodiment 1 of the present invention.
- FIG. 2 is a block diagram showing an overall configuration of a controller unit according to the first embodiment.
- FIG. 3 is a block diagram showing assist command calculation means according to the first embodiment.
- FIG. 4 is a block diagram showing a configuration of a steering burden prediction unit according to the first embodiment.
- FIG. 5 is a diagram illustrating assist torque according to the first embodiment.
- FIG. 6 is a block diagram showing assist command calculation means according to the second embodiment.
- FIG. 7 is a block diagram showing assist command calculation means according to the third embodiment.
- FIG. 8 is a block diagram showing an overall configuration of a controller unit according to a fourth embodiment.
- FIG. 9 is a block diagram showing an overall configuration of a controller unit according to a fifth embodiment.
- Fig. 10 is a diagram showing an upper limit value of an assist command at the time of abnormality according to the fifth embodiment.
- FIG. 11 is a block diagram showing assist command calculating means according to the fifth embodiment.
- FIG. 1 is a schematic configuration diagram of an electric power steering apparatus according to Embodiment 1 of the present invention.
- the steering torque received by the driver on the steering wheel 1 passes through the steering shaft 2 and is transmitted to the rack via the rack pinion gear 12 to turn the wheels 3 and 4.
- the motor 5 is connected to the steering shaft 2 via a motor reduction gear 7.
- Assist torque generated from the motor (hereinafter also referred to as motor torque) is transmitted to the steering shaft 2 via the motor deceleration gear 7 to reduce the steering torque applied by the driver during steering.
- the torque sensor 8 detects a steering torque applied to the steering shaft 2 when the driver steers the steering wheel 1.
- the controller unit 9 determines the direction and magnitude of the assist torque applied by the motor 5 according to the steering torque detected by the torque sensor 8 and the vehicle speed detected by the vehicle speed sensor 13, and this assist force (assist torque) is determined.
- the current that flows from the power supply 11 to the motor 5 is controlled.
- the rotation angle sensor 6 detects the rotation angle of the motor.
- FIG. 2 is a block diagram showing the configuration of the controller unit 9 according to the first embodiment.
- the assist command calculation means 20 for calculating the assist command corresponding to the target value of the assist torque is based on the steering torque signal detected by the torque sensor 8 and the vehicle speed signal detected by the vehicle speed sensor 13. The direction and magnitude of the corresponding motor torque are determined, and an assist command is calculated.
- the motor rotation angle detection circuit 21 receives a signal from the rotation angle sensor 6 that detects the rotation angle of the motor 5 and calculates the rotation angle of the motor 5.
- the differentiating means 27 calculates a rotational angular velocity by approximately differentiating the rotational angle. Further, the current detection circuit 22 detects a current flowing through each phase of the motor.
- the current control means 23 calculates a voltage command according to the assist command, the detected motor current, and the rotation angle.
- the switching element drive circuit 24 PWM modulates this voltage command and instructs the inverter 25 to perform a switching operation.
- the inverter 25 receives the switching operation signal and realizes the chopper control of the switching elements 61 A— 63 A, 61 B— 63 B, and causes the electric current to flow to the motor by the power supplied from the battery 11. This current generates motor torque, that is, assist torque.
- an abnormality detecting means for detecting an abnormality in the electric power steering apparatus main body is provided.
- the configuration of this inverter may use an H-bridge circuit when the force motor corresponding to a three-phase motor is a brushed DC motor.
- FIG. 3 shows assist command calculation means of the first embodiment.
- the assist map 30 stores in advance assist command values corresponding to the steering torque signal Th and the vehicle speed signal Vx, and outputs an assist command.
- the assist command switching means 31 switches the output signal in accordance with the abnormality detection signal output from the abnormality detection means 26.
- the assist command switching means outputs an assist command output from the assist map 30 and supplies it to the current control means 23 as a target motor torque, that is, a target current. .
- the steering burden prediction means 32 predicts the steering burden and outputs a steering burden prediction signal, and responds to the steering burden prediction signal.
- the abnormal assist command calculated by the abnormal assist adjusting means 33 and the multiplying means 34 is output as the assist command switching means 31 and supplied to the current control means 23 as the target current.
- FIG. 4 is a block diagram showing the configuration of the steering burden predicting means of the first embodiment.
- the steering burden prediction means 32 is configured, for example, as shown in FIG.
- a steering burden prediction signal is output so as to be substantially proportional to the magnitude of ⁇ Zdt.
- the steering load prediction signal may be obtained by multiplying or adding.
- multiplication is performed by multiplication means 46.
- this steering angle detection signal 0h may also be used as shown in Fig. 4 (c).
- . 44 is a prediction map
- 47 is a multiplication means.
- the steering burden generally tends to increase as the rotational angular velocity d ⁇ Zdt, steering torque Th, and steering angle ⁇ h increase, and tends to decrease as the vehicle speed Vx increases. .
- the abnormal-time assist adjustment means 33 outputs a signal that is approximately proportional to the steering load prediction signal, has a dead zone near the origin, and saturates in a region where the steering load prediction signal is large. To do.
- a signal obtained by multiplying the output signal and the assist command output from the assist map 30 by the multiplication means 34 is used as an assist command at the time of abnormality.
- the contents of the abnormality include, for example, an abnormality in which the eyes of the motor wire are disconnected. When such an abnormality occurs, Patent Document 3 shows that although assist torque can occur, assist can be continued.
- the abnormality detection means 26 when an abnormality occurs in which the eyes of the motor wire are disconnected, the abnormality detection means 26 outputs an abnormality detection signal indicating that an abnormality has occurred.
- the steering load predicting means 32, the abnormal assist adjustment means 33, and the multiplication means 34 start calculation, calculate an abnormal assist command, and realize the assist torque according to the abnormal assist command.
- the current is controlled.
- the torque pulsation is suppressed by making the assist torque smaller than the normal time when there is no abnormality, and the driver feels uncomfortable.
- the assist torque is set to be as large as normal when there is no abnormality (that is, equivalent to normal when there is no abnormality or By making the size close to that, the driver's steering burden can be reduced sufficiently. Therefore, as shown in Fig. 5, the assist torque at the time of abnormality is as large as that at normal time. Or a value in a range smaller than normal.
- the assist command is strengthened (that is, the gain is reduced) to limit the assist command to a small value, and the steering burden is predicted to be large.
- the assist command is relaxed from the first range (ie, the gain is larger than the first range) and the assist command is increased. As a result, the steering can be made more comfortable even during an abnormality.
- Patent Document 3 shows that even when such an abnormality occurs, torque pulsation occurs but the assist can be continued. Therefore, assist control is possible with the configuration shown in the first embodiment.
- the rotational angular velocity signal cannot be used, the value based on the rotational angular velocity must be zero in FIG. 4, but the steering burden prediction signal can be calculated using other signals. In this case, the same effect as described above can be obtained according to the remaining signals without using the rotational angular velocity signal.
- the contents of the abnormality of the apparatus main body include a short-circuit between motor wires, a short-circuit between motor wires, a ground fault or a power fault of one motor wire, and a short-circuit between switching elements.
- the braking torque may be generated by the current flowing through the short-circuited part in the angular region of the motor rotation angle. In other angular regions, torque in the assist direction can be output. The assist can be continued.
- this braking torque has the property of increasing in proportion to the rotational angular velocity of the motor, if the assist torque is commanded as usual, the braking torque actually increases when the rotational angular velocity is large, which is more average than the command. Lack of assistance.
- the steering burden will be increased in proportion to the rotational angular velocity, and the assist command can be increased in advance. It can be sufficiently reduced.
- the assist torque can be reduced to reduce the uncomfortable feeling caused by torque pulsation. In this way, by increasing or decreasing the magnitude of the assist torque according to the predicted magnitude of the steering burden, it is possible to make the steering more comfortable even during an abnormality.
- FIG. 6 is a block diagram showing the assist command calculating means 20 of the second embodiment.
- the assist command calculation means of FIG. 3 is used, but the means shown in FIG. 6 may be replaced.
- the saturation processing means 35 is used in FIG.
- the saturation processing unit 35 uses the output signal of the abnormality assist adjustment unit 33 as the upper limit value of the saturation processing, and performs saturation processing of the assist command output by the assist map 30 so as not to exceed the upper limit value.
- This saturated signal is used as an assist command for abnormal conditions.
- the magnitude of the assist command can be increased or decreased according to the predicted steering burden, so the same effect as in the first embodiment can be obtained.
- FIG. 7 is a block diagram showing the assist command calculation means 20 of the third embodiment.
- the assist command calculation means in FIG. 3 and in FIG. 6 in the second embodiment are used, but they may be replaced with the means shown in FIG.
- the abnormal assist map 37 shown in FIG. 7 shows the value of the abnormal assist command calculated by the steering load predicting means 32, the abnormal assist adjusting means 33, and the multiplying means 34 shown in FIG. This is stored in advance as a map associated with the values of Zdt, steering torque signal Th, vehicle speed signal Vx, and steering angle signal ⁇ h.
- the abnormal assist map 37 in FIG. 7 shows the value of the abnormal assist command calculated by the steering load predicting means 32, the abnormal assist adjusting means 33, and the saturation processing means 35 in FIG. This is stored in advance as a map associated with the values of d ⁇ Zdt, steering torque signal Th, vehicle speed signal Vx, and steering angle signal ⁇ h.
- the abnormal assist map 37 shown in FIG. 7 includes weighting coefficients (kl, k2, k3) for the steering torque signal Th, the rotational angular velocity d ⁇ Zdt, and the steering angle signal ⁇ h, as indicated by 37 in the frame.
- the abnormal-time assist map 37 when the steering load is predicted to be small, the abnormal-time assist command is reduced, and when the steering load is predicted to be large, the abnormal-time assist command is increased. Is possible.
- the same control as the configuration shown in the first or second embodiment can be performed, and the assist finger Since the size of the command can be increased or decreased, the same effect as in Embodiment 1 or 2 can be obtained.
- the assist command is increased / decreased when increasing / decreasing the assist according to the steering load.
- this is not the case.
- a relay that cuts off the current is also used.
- the relay 71 is arranged on the wiring connecting the inverter 25 and the motor 5, and the relay 71 is released when the steering load is sufficiently small to make the assist zero. . That is, when it is predicted that the steering load is sufficiently small in the steering load prediction means 32 and the assist command at the time of abnormality is set to zero, the assist command calculation means 20 instructs the relay 71 to be opened.
- the relay 71 is opened, the current flowing through the motor 5 is cut off, and the assist can be made zero. Thereafter, when the steering load increases again in the steering load prediction means 32, the relay 71 is instructed to close, and the motor torque is controlled in accordance with the abnormal assist command.
- the relay 71 can be arranged at the DC inverter of the inverter or inside the motor, as shown in Fig. 8, even if it is placed between the motor 5 and the inverter 25. Obtainable.
- the motor may generate a motor torque due to the influence of the counter electromotive force, etc.
- the motor torque is reduced because the current is blocked by the relay. It can be surely reduced to zero, reducing the sense of discomfort felt by the driver. Togashi.
- an abnormality assist end means 72 is provided, and the abnormality assist end means 72 includes vehicle speed, steering torque, steering angle, steering angular velocity, motor rotation angle, Use one or more of the motor rotation angular velocity, longitudinal acceleration, lateral acceleration, yorate, and steering load prediction value to determine whether or not the force to end the abnormal assist is determined.
- the relay 71 is opened (turned off) to cut off the current, and the assist is made zero. After that, the relay 71 will not be closed (turned on) until the fault is repaired.
- the vehicle speed, the steering torque, the steering angle, and the predicted steering burden value are shown as signals used in the abnormality assist end means 72.
- the steering angular speed obtained by differentiating the steering angle, the motor Rotation angle, motor rotation angular velocity, vehicle vertical and horizontal acceleration, vehicle yorate, etc. may be used.
- Assist termination at the time of abnormality 72 means any one or more of vehicle speed, steering torque, steering angle, steering angular velocity, motor rotational angle, motor rotational angular velocity, vertical acceleration, lateral acceleration, yorate, and steering burden prediction value,
- the abnormal assist end determination condition is satisfied and the abnormal assist is instructed.
- This judgment condition means that the vehicle speed, steering torque, steering angle, steering angular velocity, motor rotational angle, motor rotational angular velocity, vertical acceleration, lateral acceleration, lateral acceleration, steering of the signal described above.
- Each predicted load value represents the magnitude of the motion state quantity of the vehicle. Therefore, when the time period during which the vehicle motion state quantity is equal to or less than a predetermined value continues for a predetermined time, the assist by the electric power steering device is stopped. Also affect the vehicle's motion state Is that it is small.
- a motor current may be used as a signal used for the determination by the abnormality assist end means 72. This is because the motor current is determined to be approximately proportional based on the state quantities such as steering torque and vehicle speed.
- the electric power steering device gradually gives an abnormal assist command after time TO when the abnormal assist end determination condition is satisfied before the relay is opened. It is equipped with a means to reduce the voltage to a lower level and then open the relay.
- the assist command calculation means is provided with an abnormal assist limit means 81 so that a value limited by the upper limit of the abnormal assist command is output as an abnormal assist command. Yes.
- the upper limit value of the abnormal assist command is gradually reduced after the time TO when the abnormal assist end determination condition is satisfied, and when this upper limit value reaches a predetermined value a or less T1 Then, open the relay.
- the assist end determination at the time of abnormality is determined. Satisfy the conditions, and after the point of satisfaction TO, gradually lower the upper limit value of the assist command at the time of abnormality, and when this upper limit value reaches a predetermined value ⁇ or less, the relay is opened at T1. This is because if the time has passed sufficiently, the driver will be noticed abnormally, and it is predicted that he is driving while suppressing the movement of the vehicle. In Fig. 10, depending on the time, the assist command at the time of abnormality is gradually decreased. According to this method, since the assist is completed when the abnormality assist is sufficiently small, the uncomfortable feeling felt by the driver can be further reduced.
- FIG. 11 shows an example in which the assist command calculating means 81 is provided in the assist command calculating means of FIG. 3.
- the assist command calculating means shown in FIGS. Limiting means may be provided.
- the assist torque at the time of abnormality based on the steering load predicting means 32 can provide an assist torque that increases or decreases in accordance with the steering load, thereby reducing the driver's uncomfortable feeling.
- the upper limit value of the assist torque is gradually reduced and the relay is opened, so that the driver feels uncomfortable when the abnormal assist is finished. While the upper limit value is being gradually reduced, changes in the assist command during an abnormality are not ignored. Since the abnormal assist can be terminated while maintaining the control effect of the abnormal assist, the driver can feel less uncomfortable. In addition, it is possible to urge the driver to leave the state where the abnormality has occurred and repair the abnormal part where the operation cannot be continued.
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Power Steering Mechanism (AREA)
Abstract
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US12/293,140 US7828112B2 (en) | 2006-05-26 | 2007-03-08 | Electric power steering device |
EP07738007.9A EP2022701B1 (en) | 2006-05-26 | 2007-03-08 | Electric power steering device |
CN2007800135863A CN101421148B (zh) | 2006-05-26 | 2007-03-08 | 电动动力转向装置 |
JP2008517794A JP4862043B2 (ja) | 2006-05-26 | 2007-03-08 | 電動パワーステアリング装置 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2006146390 | 2006-05-26 | ||
JP2006-146390 | 2006-05-26 |
Publications (1)
Publication Number | Publication Date |
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WO2007138772A1 true WO2007138772A1 (ja) | 2007-12-06 |
Family
ID=38778298
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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PCT/JP2007/054516 WO2007138772A1 (ja) | 2006-05-26 | 2007-03-08 | 電動パワーステアリング装置 |
Country Status (6)
Country | Link |
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US (1) | US7828112B2 (ja) |
EP (1) | EP2022701B1 (ja) |
JP (1) | JP4862043B2 (ja) |
KR (1) | KR100995214B1 (ja) |
CN (1) | CN101421148B (ja) |
WO (1) | WO2007138772A1 (ja) |
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JP2014534922A (ja) * | 2011-09-14 | 2014-12-25 | ツェットエフ、レンクジステメ、ゲゼルシャフト、ミット、ベシュレンクテル、ハフツングZf Lenksysteme Gmbh | 電動パワーステアリングシステムを作動させるための方法 |
JP2018510089A (ja) * | 2015-03-30 | 2018-04-12 | ローベルト ボッシュ オートモーティブ ステアリング ゲゼルシャフト ミット ベシュレンクテル ハフツングRobert Bosch Automotive Steering GmbH | 操舵システムを動作させる方法及び操舵システム |
KR20200021746A (ko) * | 2018-08-21 | 2020-03-02 | 현대자동차주식회사 | 능동 롤 제어 장치 및 방법 |
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JP5141382B2 (ja) * | 2008-06-02 | 2013-02-13 | 株式会社ジェイテクト | 電動パワーステアリング装置 |
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US9050997B1 (en) | 2010-08-31 | 2015-06-09 | Michael R. Schramm | Rollover prevention apparatus |
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JP2017226305A (ja) * | 2016-06-22 | 2017-12-28 | 本田技研工業株式会社 | 電動パワーステアリング装置 |
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JP6979091B2 (ja) * | 2020-01-29 | 2021-12-08 | 本田技研工業株式会社 | 車両制御装置、車両、車両制御方法及びプログラム |
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- 2007-03-08 KR KR1020087025568A patent/KR100995214B1/ko active IP Right Grant
- 2007-03-08 JP JP2008517794A patent/JP4862043B2/ja not_active Expired - Fee Related
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Cited By (9)
Publication number | Priority date | Publication date | Assignee | Title |
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US8670904B2 (en) | 2008-05-28 | 2014-03-11 | Honda Motor Co., Ltd. | Motor control device and electric steering system |
JP2014534922A (ja) * | 2011-09-14 | 2014-12-25 | ツェットエフ、レンクジステメ、ゲゼルシャフト、ミット、ベシュレンクテル、ハフツングZf Lenksysteme Gmbh | 電動パワーステアリングシステムを作動させるための方法 |
JP2018510089A (ja) * | 2015-03-30 | 2018-04-12 | ローベルト ボッシュ オートモーティブ ステアリング ゲゼルシャフト ミット ベシュレンクテル ハフツングRobert Bosch Automotive Steering GmbH | 操舵システムを動作させる方法及び操舵システム |
CN111491852A (zh) * | 2017-12-27 | 2020-08-04 | 罗伯特·博世有限公司 | 转向装置 |
JP2021508635A (ja) * | 2017-12-27 | 2021-03-11 | ローベルト ボツシユ ゲゼルシヤフト ミツト ベシユレンクテル ハフツングRobert Bosch Gmbh | 操舵装置 |
JP7065973B2 (ja) | 2017-12-27 | 2022-05-12 | ローベルト ボツシユ ゲゼルシヤフト ミツト ベシユレンクテル ハフツング | 操舵装置 |
US11565745B2 (en) | 2017-12-27 | 2023-01-31 | Robert Bosch Gmbh | Steering device |
KR20200021746A (ko) * | 2018-08-21 | 2020-03-02 | 현대자동차주식회사 | 능동 롤 제어 장치 및 방법 |
KR102563483B1 (ko) * | 2018-08-21 | 2023-08-04 | 현대자동차주식회사 | 능동 롤 제어 장치 및 방법 |
Also Published As
Publication number | Publication date |
---|---|
EP2022701B1 (en) | 2017-03-01 |
CN101421148A (zh) | 2009-04-29 |
EP2022701A1 (en) | 2009-02-11 |
US20090084616A1 (en) | 2009-04-02 |
EP2022701A4 (en) | 2012-03-14 |
JP4862043B2 (ja) | 2012-01-25 |
CN101421148B (zh) | 2010-06-09 |
KR100995214B1 (ko) | 2010-11-17 |
KR20080109864A (ko) | 2008-12-17 |
JPWO2007138772A1 (ja) | 2009-10-01 |
US7828112B2 (en) | 2010-11-09 |
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