A vehicle steering apparatus is comprised of an assist motor, a steering torque sensor, a steering angle sensor, and a controller. The controller has a torque producing section for estimating a virtual steering model input torque from a torque sensor detection value and a steering angle detection value, a virtual steering model of representing a desired steering characteristic which receives the virtual steering model input torque and outputs a target steering angle of a steering column shaft, and a steering angle servo for controlling an output of the assist motor so that the steering angle detection angle follows the target steering angle.

Vehicle steering apparatus

An electric power steering apparatus has a steering mechanism SM having universal joints 4, 6 in a torque transmitting system, a steering toque detecting unit 14, a steering angle detecting, unit 18, a torque fluctuation detecting unit 43 for detecting a torque fluctuation due to the crossing angle α in the universal joints 4, 6 on the basis of the steering angle θ detected by the steering angle detecting unit 18 and any one of the steering torque T detected by the steering torque detecting unit, a current command value It and self-aligning torque SAT; and a current command value correcting unit 44 for correcting the current command value on the basis of the torque fluctuation detected by the torque fluctuation detecting unit 43 and the steering angle θ detected by the steering angle detecting unit 18.

Electric Power Steering Apparatus

According to conventional art, if there is an obstacle on the left of a vehicle, a control threshold value is set so as to avoid the obstacle If the control threshold value is exceeded, the vehicle is controlled in accordance with a deviation quantity so as to return to a position where the control threshold avoids being exceeded However, even if a risky oncoming vehicle is approaching the vehicle on the right, the vehicle is controllably moved toward the oncoming vehicle Thus, disadvantageously, a driver has a sense of fear or discomfort A vehicle control apparatus according to the present invention includes a calculation section configured to calculate a first risk level present on the left of the vehicle and a second risk level present on the right of the vehicle, a setting section configured to set a first control threshold for the left of the vehicle based on the first risk level and to set a second control threshold for the right of the vehicle based on the second risk level, a change section configured to change at least one of the first and second control thresholds based on the first and second risk levels, and a control section configured to control the vehicle based on the changed control threshold

Vehicle control apparatus

A steering control device for a vehicle includes a first adjustment value determination means for determining a first adjustment value of a value corresponding to a wheel steering angle based on an actual value and a target value of turning state quantity, the first adjustment value is a value directing to approximate the actual value to the target value, and a steering control means for adjusting the wheel steering angle by modifying the value corresponding to the wheel steering angle based on the first adjustment value, wherein the first adjustment value determination means includes an index value obtaining means for obtaining an index value indicating a probability of an occurrence of a side-slip of a wheel and a regulation means for regulating the first adjustment value so that the greater the probability of the occurrence of the side-slip is, the smaller the first adjustment value is set to be.

Steering control device for vehicle

A control system for controlling a steering system is provided. The control system includes a first module that determines a hysteresis position based on handwheel velocity and handwheel torque. A second module selectively determines an assist curve based on the hysteresis position. A third module generates a final assist command based on the assist curve.

Electric power steering control methods and systems

A motor-driven steering controller for controlling a steering wheel of a vehicle. The controller includes a steering torque controlling unit, a braking force estimating unit, a right and left braking force difference estimating unit and an assist steering torque providing unit. The steering torque controlling unit controls a steering torque on the steering wheel depending on a steering operation. The braking force estimating unit estimates braking forces to be imposed on wheels of the vehicle. The right and left braking force difference estimating unit estimates difference between the braking forces to be imposed on the right and left wheels each estimated by the braking forces estimating unit. The assist steering torque providing unit provides an assist steering torque for the steering torque controlling unit on the basis of the difference in braking force between right and left wheels estimated by the right and left braking force difference estimating unit.

Motor-driven steering controller and automobile anti-skid controller

PROBLEM TO BE SOLVED: To easily perform countersteering operation when giving braking force on a so-called μ split road surface in an electric steering controller. SOLUTION: In a steering torque control block B0, steering torque for a steered wheel of a vehicle is controlled in accordance with steering operation. Moreover, in a braking force inference block B1, braking force given to each wheel of the vehicle is inferred to infer a difference in braking force given to right and left wheels in a right and left braking force difference inference block B2 based on the braking force inferred in the block B1. Assist steering torque is given to the steering torque control block B0 by an assist steering torque giving block B3 in accordance with a difference in braking force on the right and left wheels to assist operation when performing countersteering. COPYRIGHT: (C)2004,JPO

Electric steering controller and antiskid controller for vehicle having the same

A method and a device for controlling the maneuverability of a vehicle, the method comprising the steps of obtaining, by a vehicle maneuverability controlling device, the steer angle thetah of a steering wheel based on the rotating angle thetapm of an assist motor (24m) detected by a rotating angle sensor (24s) and the rotating angle thetavm of a gear ratio variable motor (32m) detected by a rotating angle sensor (32s) and performing the VGRS control processing (40a) of a gear ratio variable mechanism based on the obtained steer angle thetah, whereby since the steer angle thetah of the steering wheel is obtained based on the rotating angle thetavm used for the VGRS control processing (40a) of the gear ratio variable mechanism and the rotating angle thetapm used for the ESP control processing (30a) of an EPS actuator, the steer angle thetah of the steering wheel can be obtained even if a steer angle sensor is absent, and thus the number of parts of the vehicle maneuverability control device can be reduced.

Method and device for controlling maneuverability of vehicle

PROBLEM TO BE SOLVED: To provide a movement control method and a movement control apparatus of vehicles for reducing the number of components. SOLUTION: A steering angle θh of a steering wheel is obtained based on a rotational angle θpm of an assist motor 24m detected by a rotational angle sensor 24s and a rotational angle θvm of a gear ratio variable motor 32m detected by a rotational angle sensor 32s, and VGRS control processing 40a of a gear ratio variable mechanism is made based on the obtained steering angle θh by a vehicle movement control apparatus. Therefore, the steering angle θh of the steering wheel is obtained based on the rotational angle θvm used for the VGRS control processing 40a of the gear ratio variable mechanism and the rotational angle θpm used for ESP control processing 30a of an EPS actuator, thus obtaining the steering angle θh of the steering wheel even without any steering angle sensors and hence reducing the number of components in the vehicle movement control apparatus. COPYRIGHT: (C)2004,JPO

Wataru Tanaka

Papers

Motor-driven steering controller and automobile anti-skid controller

Electric steering controller and antiskid controller for vehicle having the same

Method and device for controlling maneuverability of vehicle

Movement control method and apparatus for vehicle