Patents by Inventor Taizo TODA
Taizo TODA has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).
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Patent number: 11891136Abstract: A steering control device includes a transverse gradient estimator configured to estimate a transverse gradient of a road surface on which a vehicle travels; an assisting amount calculator configured to calculate a first assisting amount based on the transverse gradient; a low pass filter configured to perform a low pass filter processing for the first assisting amount, and output the processed first assisting amount subjected to the low pass filter processing, as a second assisting amount; and a motor controller configured to control a motor that generates a steering assist torque, using the second assisting amount. The low pass filter switches a cut-off frequency of the low pass filter between a first cut-off frequency and a second cut-off frequency that is set to a value higher than the first cut-off frequency, depending on whether the second assisting amount increases with time or the second assisting amount decreases with time.Type: GrantFiled: July 31, 2018Date of Patent: February 6, 2024Assignee: Mitsubishi Electric CorporationInventors: Taizo Toda, Masaya Endo
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Patent number: 11529962Abstract: Provided is an autonomous driving assistance system for vehicles that has redundancy without posing any problem in diversity. The autonomous driving assistance system includes: a sensor configured to acquire surroundings information; a downstream device including an actuator configured to control a vehicle; and a driving assistance device configured to calculate a control amount for the downstream device on the basis of the surroundings information. The downstream device further includes a diagnosis unit configured to: perform comparison between at least two control amounts that include the control amount calculated in the driving assistance device and a control amount calculated in the downstream device on the basis of the surroundings information; and determine, if the control amounts are equal to each other, that the control amounts are normal, and determine, if the control amounts are different from each other, that the control amounts are abnormal.Type: GrantFiled: October 3, 2018Date of Patent: December 20, 2022Assignee: Mitsubishi Electric CorporationInventors: Taizo Toda, Akio Numakura, Jiro Okada
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Publication number: 20210261190Abstract: A steering control device includes a transverse gradient estimator configured to estimate a transverse gradient of a road surface on which a vehicle travels; an assisting amount calculator configured to calculate a first assisting amount based on the transverse gradient; a low pass filter configured to perform a low pass filter processing for the first assisting amount, and output the processed first assisting amount subjected to the low pass filter processing, as a second assisting amount; and a motor controller configured to control a motor that generates a steering assist torque, using the second assisting amount. The low pass filter switches a cut-off frequency of the low pass filter between a first cut-off frequency and a second cut-off frequency that is set to a value higher than the first cut-off frequency, depending on whether the second assisting amount increases with time or the second assisting amount decreases with time.Type: ApplicationFiled: July 31, 2018Publication date: August 26, 2021Applicant: Mitsubishi Electric CorporationInventors: Taizo TODA, Masaya ENDO
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Publication number: 20210122384Abstract: Provided is an autonomous driving assistance system for vehicles that has redundancy without posing any problem in diversity. The autonomous driving assistance system includes: a sensor configured to acquire surroundings information; a downstream device including an actuator configured to control a vehicle; and a driving assistance device configured to calculate a control amount for the downstream device on the basis of the surroundings information. The downstream device further includes a diagnosis unit configured to: perform comparison between at least two control amounts that include the control amount calculated in the driving assistance device and a control amount calculated in the downstream device on the basis of the surroundings information; and determine, if the control amounts are equal to each other, that the control amounts are normal, and determine, if the control amounts are different from each other, that the control amounts are abnormal.Type: ApplicationFiled: October 3, 2018Publication date: April 29, 2021Applicant: Mitsubishi Electric CorporationInventors: Taizo TODA, Akio NUMAKURA, Jiro OKADA
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Patent number: 10913485Abstract: Based on the result of determination by a friction transition state determination unit, an assist command value correction unit corrects a basic assist command value in such a way that the hysteresis width of steering torque at a time of turning steering increases; then, a current driving unit controls a motor current in such a way that the motor current coincides with a current command value obtained by correcting the basic assist command value by use of an assist command correction value.Type: GrantFiled: April 26, 2016Date of Patent: February 9, 2021Assignee: Mitsubishi Electric CorporationInventors: Taizo Toda, Masaya Endo, Kenji Ogawa
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Publication number: 20190039641Abstract: Based on the result of determination by a friction transition state determination unit, an assist command value correction unit corrects a basic assist command value in such a way that the hysteresis width of steering torque at a time of turning steering increases; then, a current driving unit controls a motor current in such a way that the motor current coincides with a current command value obtained by correcting the basic assist command value by use of an assist command correction value.Type: ApplicationFiled: April 26, 2016Publication date: February 7, 2019Applicant: Mitsubishi Electric CorporationInventors: Taizo TODA, Masaya ENDO, Kenji OGAWA
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Patent number: 10000235Abstract: The steering control device includes: current command value 1 calculation unit 11 which determines current command value 1 based on a vehicle speed and a steering torque; current command value 2 calculation unit 14 which determines current command value 2 based on a filtered differential value of the steering torque; and current drive unit 10 which drives motor 5 so that the value of the motor current matches the sum of current command values 1 and 2. When a first crossover frequency represents the crossover frequency of control open loop characteristics in the steering control device as obtained when current command value 2 is determined using a differential value of the steering torque which has not been filtered, the notch frequency of the notch filter is set to be greater than the mechanical resonance frequency of the steering control device and smaller than the first crossover frequency.Type: GrantFiled: September 12, 2014Date of Patent: June 19, 2018Assignee: Mitsubishi Electric CorporationInventors: Taizo Toda, Kenji Ogawa, Masaya Endo
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Patent number: 9896124Abstract: A steering control apparatus is obtained which includes an assist instruction-value correction device for calculating, based on a result of a friction transition-state determination device, an assist correction value in order to obtain an assist instruction-value after its correction being made by correcting a basic assist instruction-value so that a hysteresis width of steering torque increases at the time of turn-back steering, and an electric current driving device for driving a motor so that an electric current of the motor is coincident with an electric current instruction-value therefor after its correction being made on the basis of the assist instruction-value after its correction being made; and the friction transition-state determination device determines the friction transition-state by integrating a differential value of steering-shaft reaction torque using an integrator having a limiting function to an upper or lower limit value defined in advance.Type: GrantFiled: May 30, 2014Date of Patent: February 20, 2018Assignee: Mitsubishi Electric CorporationInventors: Taizo Toda, Masaya Endo, Yoshihiko Kimpara, Kenji Ogawa
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Patent number: 9896122Abstract: Provided is a steering control device, including: an actuator for applying a steering assist torque to a steering system of a vehicle; a vehicle turning state detection section for detecting a state amount representing a turning state of the vehicle; a steering-holding determination section for determining a steering-holding state of the steering system; a storing section for storing, when the steering-holding determination section determines that the steering system is in the steering-holding state, the state amount detected by the vehicle turning state detection section as a steering-holding determination state amount; a steering assist torque calculation section for calculating the steering assist torque based on an absolute value of the steering-holding determination state amount; and an actuator control section for controlling the actuator based on the calculated steering assist torque.Type: GrantFiled: April 8, 2013Date of Patent: February 20, 2018Assignee: Mitsubishi Electric CorporationInventors: Masaya Endo, Yoshihiko Kimpara, Kenji Ogawa, Taizo Toda
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Patent number: 9862406Abstract: An initial check is executed individually on each group of a plurality of groups constituted by a plurality of multiphase windings (3a, 3b) of a motor (3) and a plurality of inverter circuits (9a, 9b) corresponding respectively thereto, opening/closing control is executed on a plurality of relays (6a, 6b) in accordance with an implementation result of the initial check so that respective timings at which power is supplied to the plurality of inverter circuits are offset, and drive control is executed on the plurality of inverter circuits in accordance with the implementation result of the initial check so that respective currents passed through the plurality of multiphase windings are offset.Type: GrantFiled: November 8, 2013Date of Patent: January 9, 2018Assignee: Mitsubishi Electric CorporationInventors: Taizo Toda, Jiro Okada
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Patent number: 9738307Abstract: Provided are a steering control device and the like, including the steps of: calculating a steering assist torque to be applied to an actuator for applying the steering assist torque to a steering system of a vehicle in order to improve return characteristics of the steering system; determining a steering state of a driver; correcting the steering assist torque depending on a result of the steering state determination; and controlling the actuator depending on the corrected steering assist torque, in which the step of determining a steering state of a driver includes determining the steering state of the driver based on a combination of at least two of the following: a manually-operating steering state determination; an abrupt steering wheel return determination; a high-acceleration steering wheel return determination; a manual return steering determination; and an additional-steering determination.Type: GrantFiled: April 8, 2013Date of Patent: August 22, 2017Assignee: Mitsubishi Electric CorporationInventors: Masaya Endo, Hidetoshi Ikeda, Isao Kezobo, Kenji Ogawa, Taizo Toda
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Publication number: 20170217484Abstract: The steering control device includes: current command value 1 calculation unit 11 which determines current command value 1 based on a vehicle speed and a steering torque; current command value 2 calculation unit 14 which determines current command value 2 based on a filtered differential value of the steering torque; and current drive unit 10 which drives motor 5 so that the value of the motor current matches the sum of current command values 1 and 2. When a first crossover frequency represents the crossover frequency of control open loop characteristics in the steering control device as obtained when current command value 2 is determined using a differential value of the steering torque which has not been filtered, the notch frequency of the notch filter is set to be greater than the mechanical resonance frequency of the steering control device and smaller than the first crossover frequency.Type: ApplicationFiled: September 12, 2014Publication date: August 3, 2017Applicant: Mitsubishi Electric CorporationInventors: Taizo TODA, Kenji OGAWA, Masaya ENDO
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Publication number: 20170066474Abstract: A steering control apparatus is obtained which includes an assist instruction-value correction device for calculating, based on a result of a friction transition-state determination device, an assist correction value in order to obtain an assist instruction-value after its correction being made by correcting a basic assist instruction-value so that a hysteresis width of steering torque increases at the time of turn-back steering, and an electric current driving device for driving a motor so that an electric current of the motor is coincident with an electric current instruction-value therefor after its correction being made on the basis of the assist instruction-value after its correction being made; and the friction transition-state determination device determines the friction transition-state by integrating a differential value of steering-shaft reaction torque using an integrator having a limiting function to an upper or lower limit value defined in advance.Type: ApplicationFiled: May 30, 2014Publication date: March 9, 2017Applicant: Mitsubishi Electric CorporationInventors: Taizo TODA, Masaya ENDO, Yoshihiko KIMPARA, Kenji OGAWA
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Patent number: 9522695Abstract: Provided are a steering control device and a steering control method therefor, which reduce a steering feeling of discomfort due to a pulsed change (short abrupt change) in steering assist torque caused when control such as steering wheel return control is turned on/off, and which acquire a sufficient control effect even when high control response is required, by reducing a fluctuation in steering assist torque caused when one steering assist torque is selected from two or more steering assist torques by low-pass filtering, and by correcting the low-pass filtering depending on a change amount of the selected steering assist torque.Type: GrantFiled: April 8, 2013Date of Patent: December 20, 2016Assignee: Mitsubishi Electric CorporationInventors: Masaya Endo, Yoshihiko Kimpara, Hidetoshi Ikeda, Kenji Ogawa, Taizo Toda
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Publication number: 20160229444Abstract: An initial check is executed individually on each group of a plurality of groups constituted by a plurality of multiphase windings (3a, 3b) of a motor (3) and a plurality of inverter circuits (9a, 9b) corresponding respectively thereto, opening/closing control is executed on a plurality of relays (6a, 6b) in accordance with an implementation result of the initial check so that respective timings at which power is supplied to the plurality of inverter circuits are offset, and drive control is executed on the plurality of inverter circuits in accordance with the implementation result of the initial check. so that respective currents passed through the plurality of multiphase windings are offset.Type: ApplicationFiled: November 8, 2013Publication date: August 11, 2016Applicant: MITSUBISHI ELECTRIC CORPORATIONInventors: Taizo TODA, Jiro OKADA
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Publication number: 20160001814Abstract: Provided are a steering control device and the like, including the steps of: calculating a steering assist torque to be applied to an actuator for applying the steering assist torque to a steering system of a vehicle in order to improve return characteristics of the steering system; determining a steering state of a driver; correcting the steering assist torque depending on a result of the steering state determination; and controlling the actuator depending on the corrected steering assist torque, in which the step of determining a steering state of a driver includes determining the steering state of the driver based on a combination of at least two of the following: a manually-operating steering state determination; an abrupt steering wheel return determination; a high-acceleration steering wheel return determination; a manual return steering determination; and an additional-steering determination.Type: ApplicationFiled: April 8, 2013Publication date: January 7, 2016Applicant: MITSUBISHI ELECTRIC CORPORATIONInventors: Masaya ENDO, Hidetoshi IKEDA, Isao KEZOBO, Kenji OGAWA, Taizo TODA
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Publication number: 20160001811Abstract: Provided are a steering control device and a steering control method therefor, which reduce a steering feeling of discomfort due to a pulsed change (short abrupt change) in steering assist torque caused when control such as steering wheel return control is turned on/off, and which acquire a sufficient control effect even when high control response is required, by reducing a fluctuation in steering assist torque caused when one steering assist torque is selected from two or more steering assist torques by low-pass filtering, and by correcting the low-pass filtering depending on a change amount of the selected steering assist torque.Type: ApplicationFiled: April 8, 2013Publication date: January 7, 2016Applicant: Mitsubishi Electric CorporationInventors: Masaya ENDO, Yoshihiko KIMPARA, Hidetoshi IKEDA, Kenji OGAWA, Taizo TODA
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Publication number: 20150375777Abstract: Provided is a steering control device, including: an actuator for applying a steering assist torque to a steering system of a vehicle; a vehicle turning state detection section for detecting a state amount representing a turning state of the vehicle; a steering-holding determination section for determining a steering-holding state of the steering system; a storing section for storing, when the steering-holding determination section determines that the steering system is in the steering-holding state, the state amount detected by the vehicle turning state detection section as a steering-holding determination state amount; a steering assist torque calculation section for calculating the steering assist torque based on an absolute value of the steering-holding determination state amount; and an actuator control section for controlling the actuator based on the calculated steering assist torque.Type: ApplicationFiled: April 8, 2013Publication date: December 31, 2015Applicant: MITSUBISHI ELECTRIC CORPORATIONInventors: Masaya ENDO, Yoshihiko KIMPARA, Kenji OGAWA, Taizo TODA