Patents by Inventor Yoshio Kudo
Yoshio Kudo 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: 11400970Abstract: A steering system includes a mechanism configured to turn a steer wheel of a vehicle, a motor configured to generate driving force that is applied to the mechanism, and a controller configured to control the motor according to a steering status. The controller includes a limiting control circuit configured to limit a current that is supplied to the motor to a limiting value, a determining circuit configured to determine whether the steer wheel is in contact with an obstacle by using at least a comparison between a value of the current that is supplied to the motor and a threshold, and a threshold computing circuit configured to compute the threshold that is used by the determining circuit, the threshold computing circuit being configured to compute a value less than the limiting value according to the limiting value as the threshold.Type: GrantFiled: February 19, 2020Date of Patent: August 2, 2022Assignees: JTEKT CORPORATION, TOYOTA JIDOSHA KABUSHIKI KAISHAInventors: Isao Namikawa, Koji Anraku, Yusuke Kakimoto, Yoshio Kudo
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Publication number: 20220227412Abstract: In a steering system including a steering operation mechanism, a second actuator, a steering angle sensor, a steering torque sensor, and a steering operation control device and a control method for the steering system, only a drive assist target steered angle (first target steered angle) is reflected in a final target steered angle when a torque sensor value (actual steering torque) detected by the steering torque sensor is equal to or less than an intervention threshold. When the magnitude of the torque sensor value is more than the intervention threshold, the rate of reflection (distribution ratio) of a driver target steered angle (second target steered angle) in the final target steered angle is raised as the torque sensor value is increased, and the rate of reflection of the driver target steered angle in the final target steered angle is lowered as the magnitude of the torque sensor value is decreased.Type: ApplicationFiled: November 30, 2021Publication date: July 21, 2022Applicants: TOYOTA JIDOSHA KABUSHIKI KAISHA, JTEKT CorporationInventors: Kosuke Akatsuka, Yoshio Kudo, Rio Suda, Isao Namikawa, Takashi Kodera
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Patent number: 11292510Abstract: A steering control device includes an electronic control unit. The electronic control unit controls operation of a steering-side motor so as to apply a steering reaction force that resists a steering operation input to the steering wheel. The electronic control unit computes an obstruction strike reaction force for regulating a steering operation that steers a steered wheel toward an obstruction. The electronic control unit generates determination information indicating that the steered wheel is struck by an obstruction. The determination information includes first determination information indicating that the left side of the steered wheel is struck by an obstruction, and second determination information indicating that the right side of the steered wheel is struck by an obstruction. The electronic control unit sets a direction in which the obstruction strike reaction force is applied based on the generated determination information.Type: GrantFiled: February 13, 2020Date of Patent: April 5, 2022Assignees: JTKEKT CORPORATION, TOYOTA JIDOSHA KABUSHIKI KAISHAInventors: Koji Anraku, Isao Namikawa, Yusuke Kakimoto, Yoshio Kudo
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Publication number: 20220097757Abstract: A steering control device includes a target torque generator configured to generate a target torque which is a target value of the motor torque and a control signal generator configured to generate a control signal for controlling the motor such that the motor torque corresponding to the target torque is generated. The target torque generator includes a pre-adjustment axial force calculator, a first axial force calculator, a second axial force calculator, a post-adjustment axial force calculator, and a target torque calculator. The post-adjustment axial force calculator is configured to set a proportion of a first axial force contributing to a post-adjustment axial force to be smaller when a state of a vehicle speed is abnormal than when the state of the vehicle speed is normal.Type: ApplicationFiled: September 24, 2021Publication date: March 31, 2022Applicants: JTEKT CORPORATION, TOYOTA JIDOSHA KABUSHIKI KAISHAInventors: Yusuke KAKIMOTO, Takashi KODERA, Yoshio KUDO
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Publication number: 20220089217Abstract: A steering control device includes a control unit configured to control at least an operation of a steering-side motor. The control unit is configured to calculate a target reaction torque; calculate a difference axial force that is used to limit steering for turning the turning wheels in a predetermined direction, the difference axial force being reflected in the target reaction torque; and set a reference angle to one of a steering angle and a turning angle, set a converted angle to an angle obtained by converting another of the steering angle and the turning angle according to a steering angle ratio, and calculate the difference axial force based on a difference between the reference angle and the converted angle.Type: ApplicationFiled: September 22, 2021Publication date: March 24, 2022Applicants: JTEKT CORPORATION, TOYOTA JIDOSHA KABUSHIKI KAISHAInventors: Isao NAMIKAWA, Satoshi MATSUDA, Tomoyuki IIDA, Yoshio KUDO, Masaharu YAMASHITA, Kenji SHIBATA
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Patent number: 11279401Abstract: The steer-by-wire system includes a steering device, a reaction force device, and a controller. The steering device turns wheels of a vehicle. The reaction force device applies a steering reaction force to a steering wheel. The controller is configured to control the steering reaction force by drive control of the reaction force device in response to an operation of the steering wheel. The controller is further configured to: obtain a signal including a component due to a reaction force which acts on the wheels from a road surface; extract a signal being greater than or equal to a predetermined frequency from the signal including the component due to the reaction force; and calculate a control amount of the reaction force device based on the extracted signal equal to or greater than the predetermined frequency.Type: GrantFiled: March 4, 2020Date of Patent: March 22, 2022Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHAInventor: Yoshio Kudo
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Publication number: 20220081025Abstract: A steering control device includes an electronic control unit configured to calculate a target reaction torque that is a target value of a steering reaction force that is a force against steering input to a steering unit and to control operation of a steering-side motor provided in the steering unit such that a motor torque corresponding to the target reaction torque is generated. The electronic control unit is configured to calculate an angle axial force, as an axial component based on an axial force acting on a turning shaft that operates to turn turning wheels, the angle axial force being an axial force in which road-surface information is not reflected, and the angle axial force being determined according to an angle convertible to a turning angle of the turning wheels. The electronic control unit is configured to perform a guard process such that the angle axial force is not excessive.Type: ApplicationFiled: September 13, 2021Publication date: March 17, 2022Applicants: JTEKT CORPORATION, TOYOTA JIDOSHA KABUSHIKI KAISHAInventors: Yusuke KAKIMOTO, Takashi KODERA, Yoshio KUDO
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Patent number: 11254348Abstract: A steer-by-wire system includes a steering reaction torque generation device mechanically separated from a turning device for turning wheels and configured to apply a reaction torque to a steering wheel. The steering reaction torque generation device has a duplex configuration including a first system and a second system, each system including a reaction torque motor. When both systems are normal, a control device generates the reaction torque having a normal characteristic by controlling an operation of the reaction torque motor of at least one system. In a case of single failure where one of the systems fails, the control device generates the reaction torque having a first characteristic by controlling an operation of the reaction torque motor of another of the systems. The reaction torque having the first characteristic is different from the reaction torque having the normal characteristic with respect to a same steering angle.Type: GrantFiled: October 31, 2018Date of Patent: February 22, 2022Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHAInventors: Satoru Niwa, Toru Takashima, Tetsuya Morino, Yoshio Kudo
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Patent number: 11214295Abstract: A steering control system includes a steering-motor for turning wheels, a reaction-force-motor for applying a reaction torque to a steering of the vehicle, and a controller. The controller calculates a turning angle based on a first-characteristic representing a relationship of the turning angle to a steering angle, and calculates a reaction torque based on a second-characteristic representing a relationship of a reaction torque to the steering angle. The controller changes the first-characteristic from a characteristic corresponding to a first-state to a characteristic corresponding to a second-state in response to a change in the state of the vehicle from the first-state to the second-state. The controller maintains the second-characteristic at the characteristic corresponding to the first-state when the state of the vehicle changes from the first-state to the second-state in the case where the steering angle is steered to a steering limit corresponding to an upper limit of the turning angle.Type: GrantFiled: March 24, 2020Date of Patent: January 4, 2022Assignees: TOYOTA JIDOSHA KABUSHIKI KAISHA, PACIFIC INDUSTRIAL CO., LTD.Inventors: Tetsuya Morino, Toshiya Furukura, Yoshio Kudo
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Publication number: 20210323599Abstract: The steering control system of a steer-by-wire vehicle includes a turning angle calculation unit for calculating a target turning angle based on a steering angle of a steering wheel, and a reaction torque calculation unit for calculating a target reaction torque based on a state of the vehicle. When an alert request is issued, the reaction torque calculation unit calculates a basic reaction torque based on the steering angle, calculates an alert reaction torque for notifying a vehicle state, and calculates the target reaction torque obtained by summing the basic reaction torque and the alert reaction torque. In a process of calculating the target turning angle from the steering angle, the turning angle calculation unit calculates the target turning angle by excluding a steering angle or a turning angle corresponding to the alert reaction torque.Type: ApplicationFiled: April 1, 2021Publication date: October 21, 2021Applicants: TOYOTA JIDOSHA KABUSHIKI KAISHA, JTEKT CorporationInventors: Tetsuya MORINO, Yoshio KUDO, Isao NAMIKAWA, Takashi KODERA
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Publication number: 20210253164Abstract: The steering control apparatus determines whether or not a deviation degree of a current traveling route of a vehicle with respect to a target traveling route is equal to or more than a predetermined threshold, when steering control is switched from manual steering control to automatic steering control. In the automatic steering control, a command steering angle is calculated so that a difference between a real traveling route of the vehicle and the target traveling route is eliminated. However, when the deviation degree is equal to or more than the predetermined threshold, the steering control apparatus recalculates the command steering angle used in the command steering angle tracking control based on a steering angle at the time of starting the automatic steering control and the command steering angle so that a real steering angle after switching to the automatic steering control changes gradually to the command steering angle.Type: ApplicationFiled: May 5, 2021Publication date: August 19, 2021Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHAInventors: Ryo IRIE, Yoji KUNIHIRO, Yutaka AOKI, Yoshio KUDO
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Patent number: 11027777Abstract: The steering control apparatus determines whether or not a deviation degree of a current traveling route of a vehicle with respect to a target traveling route is equal to or more than a predetermined threshold, when steering control is switched from manual steering control to automatic steering control. In the automatic steering control, a command steering angle is calculated so that a difference between a real traveling route of the vehicle and the target traveling route is eliminated. However, when the deviation degree is equal to or more than the predetermined threshold, the steering control apparatus recalculates the command steering angle used in the command steering angle tracking control based on a steering angle at the time of starting the automatic steering control and the command steering angle so that a real steering angle after switching to the automatic steering control changes gradually to the command steering angle.Type: GrantFiled: February 7, 2018Date of Patent: June 8, 2021Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHAInventors: Ryo Irie, Yoji Kunihiro, Yutaka Aoki, Yoshio Kudo
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Publication number: 20210053613Abstract: A steering device includes a turning shaft, a steering mechanism, a motor, and a control device. The control device includes a steering-range axial force calculating circuit, a limiting axial force calculating circuit, a final axial force calculating circuit, and an axial force adjusting circuit. The steering-range axial force calculating circuit calculates a steering-range axial force when a steering wheel is operated in a predetermined operation range. The limiting axial force calculating circuit calculates a limiting axial force. The final axial force calculating circuit calculates a final axial force. The axial force adjusting circuit adjusts a value of the steering-range axial force, the limiting axial force, or the final axial force based on the axial force that reflects the force acting on the turning shaft.Type: ApplicationFiled: August 18, 2020Publication date: February 25, 2021Applicants: JTEKT CORPORATION, TOYOTA JIDOSHA KABUSHIKI KAISHAInventors: Takashi KODERA, Yoshio KUDO
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Publication number: 20210053610Abstract: A steering control system includes a central processing unit. The central processing unit calculates a plurality of types of axial forces acting on the turning shaft based on a state quantity. The central processing unit calculates a distributed axial force which is used to calculate the command value by summing the plurality of types of axial forces at predetermined distribution proportions. The central processing unit calculates the axial forces to have hysteresis with change of the state quantity. The hysteresis of each axial force is adjusted to approach hysteresis of one specific axial force out of the plurality of types of axial forces.Type: ApplicationFiled: August 20, 2020Publication date: February 25, 2021Applicants: JTEKT CORPORATION, TOYOTA JIDOSHA KABUSHIKI KAISHAInventors: Takashi KODERA, Yoshio KUDO
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Patent number: 10875575Abstract: A steering assistance device includes a steering wheel to which a driver of a vehicle inputs steering torque, a steering shaft connected to the steering wheel, a steering mechanism configured to convert a rotation of the steering shaft into a steering angle for steering target wheels, a steering actuator configured to drive the steering mechanism such that a steering angle corresponding to a command value is generated, a steering torque sensor configured to detect torque acting on the steering shaft, an information providing unit configured to provide road information of a scheduled passage area extending in a traveling direction of the vehicle, and an electronic control unit configured to control the steering actuator, based on an output of the steering torque sensor and the road information.Type: GrantFiled: July 27, 2018Date of Patent: December 29, 2020Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHAInventors: Yoji Kunihiro, Yoshio Kudo, Takahiro Kojo, Yutaka Aoki, Ryo Irie, Satoshi Takahashi, Masateru Amano
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Publication number: 20200307674Abstract: A steering control system includes a steering-motor for turning wheels, a reaction-force-motor for applying a reaction torque to a steering of the vehicle, and a controller. The controller calculates a turning angle based on a first-characteristic representing a relationship of the turning angle to a steering angle, and calculates a reaction torque based on a second-characteristic representing a relationship of a reaction torque to the steering angle. The controller changes the first-characteristic from a characteristic corresponding to a first-state to a characteristic corresponding to a second-state in response to a change in the state of the vehicle from the first-state to the second-state. The controller maintains the second-characteristic at the characteristic corresponding to the first-state when the state of the vehicle changes from the first-state to the second-state in the case where the steering angle is steered to a steering limit corresponding to an upper limit of the turning angle.Type: ApplicationFiled: March 24, 2020Publication date: October 1, 2020Applicants: TOYOTA JIDOSHA KABUSHIKI KAISHA, PACIFIC INDUSTRIAL CO., LTD.Inventors: Tetsuya MORINO, Toshiya FURUKURA, Yoshio KUDO
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Publication number: 20200307679Abstract: A vehicle running control system includes: a steering apparatus that includes a turning device being mechanically separated from a steering wheel; a vehicle drive unit; and a control device. The control device is configured to execute: a turning processing that controls the turning device such that an actual turning angle of the wheel approaches a target turning angle; a vehicle driving processing that determines a target vehicle driving force according to a required vehicle driving force based on a vehicle driving request and that controls the vehicle drive unit so as to cause an actual vehicle driving force to the target vehicle driving force determined; and where a turning angle difference is greater than a turning angle threshold value in a low vehicle speed condition, a driving force limiting processing that limits the target vehicle driving force so as to become smaller than the required vehicle driving force.Type: ApplicationFiled: March 25, 2020Publication date: October 1, 2020Applicants: TOYOTA JIDOSHA KABUSHIKI KAISHA, PACIFIC INDUSTRIAL CO., LTD.Inventors: Tetsuya MORINO, Yusuke Nakano, Rio Suda, Yoshio Kudo, Toshiya Furukura
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Publication number: 20200298908Abstract: A steering device includes: a mechanism configured to turn turning wheels of a vehicle; a motor configured to generate drive force that is applied to the mechanism; and a controller configured to control the motor in accordance with a steering state. The controller includes a determination circuit configured to determine whether or not one of the turning wheels is in contact with an obstacle based on at least a value of electric current that is supplied to the motor and a vehicle speed. The controller is configured to, when one of the turning wheels is in contact with the obstacle, notify a driver that one of the turning wheels is in contact with the obstacle.Type: ApplicationFiled: March 17, 2020Publication date: September 24, 2020Applicants: JTEKT CORPORATION, TOYOTA JIDOSHA KABUSHIKI KAISHAInventors: Isao NAMIKAWA, Koji ANRAKU, Yusuke KAKIMOTO, Yoshio KUDO
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Publication number: 20200298901Abstract: In a controller for a steering device, the steering device includes a structure where motive power transmission between a steering unit and a turning unit is separated. The controller includes a control circuit configured to control operation of a steering-side motor that is provided in the steering unit to give steering reaction force that is force against the steering input into the steering unit. In a case where turning of the turning wheels to one direction is restricted, the control circuit is configured to calculate restriction reaction force for restricting steering that is to turn the turning wheels to the one direction. The control circuit is configured to calculate the restriction reaction force based on information on the steering unit.Type: ApplicationFiled: March 17, 2020Publication date: September 24, 2020Applicants: JTEKT CORPORATION, TOYOTA JIDOSHA KABUSHIKI KAISHAInventors: Koji ANRAKU, Isao NAMIKAWA, Yusuke KAKIMOTO, Yoshio KUDO, Tetsuya MORINO
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Publication number: 20200283062Abstract: The steer-by-wire system includes a steering device, a reaction force device, and a controller. The steering device turns wheels of a vehicle. The reaction force device applies a steering reaction force to a steering wheel. The controller is configured to control the steering reaction force by drive control of the reaction force device in response to an operation of the steering wheel. The controller is further configured to: obtain a signal including a component due to a reaction force which acts on the wheels from a road surface; extract a signal being greater than or equal to a predetermined frequency from the signal including the component due to the reaction force; and calculate a control amount of the reaction force device based on the extracted signal equal to or greater than the predetermined frequency.Type: ApplicationFiled: March 4, 2020Publication date: September 10, 2020Inventor: Yoshio Kudo