Feedback, Transfer Function Or Proportional And Derivative (p& D) Control Patents (Class 701/42)
  • Patent number: 10345813
    Abstract: The invention relates to a method for the at least semi-autonomous maneuvering of a motor vehicle (1), in which a relative position between the motor vehicle (1) and at least one object (10, 11) in a surrounding area (7) of the motor vehicle (1) is detected by means of a sensor device (9) of the motor vehicle (1), a travel trajectory (12) for travel of the motor vehicle (1) past the at least one object (10, 11) is determined on the basis of the detected relative position, and a collision distance, which describes a distance between the motor vehicle (1) and the at least one object (10, 11) during the travel along the determined travel trajectory (12), is determined, wherein before the travel of the motor vehicle (1) along the travel trajectory (12) an uncertainty area (a, a?) is determined between the motor vehicle (1) and the at least one object (10, 11), and the collision distance is adjusted as a function of the determined uncertainty area (a, a?), and the travel of the motor vehicle (1) along the travel t
    Type: Grant
    Filed: August 4, 2015
    Date of Patent: July 9, 2019
    Assignee: Valeo Schalter und Sensoren GmbH
    Inventors: Jean-Francois Bariant, Nicole Wagemann
  • Patent number: 10343718
    Abstract: A driver assistance system for a vehicle executes, as steering control using an EPS device, automated steering control for causing an actual steering angle of a wheel to approach a target steering angle and steering angle return control for returning the actual steering angle to a neutral point in response to a steering operation by a driver being ended during non-automated steering control. Under comparison in a condition where a first angle difference is equal to a second angle difference, the driver assistance system is configured, in reverting to the automated steering control after a steering intervention of the driver is performed during the automated steering control and causing the actual steering angle to approach the target steering angle, to change the actual steering angle with a change rate that is lower than that in returning the actual steering angle to the neutral point during the steering angle return control.
    Type: Grant
    Filed: December 12, 2017
    Date of Patent: July 9, 2019
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventors: Yoshio Kudo, Yoji Kunihiro, Satoru Yabe
  • Patent number: 10336363
    Abstract: A power steering system includes a gain module that generates an estimated driver torque, and a blending module for determining a blend value. The blend value is based at least in part on a derivative of the estimated driver torque, and the blend value is applied to a return torque of a handwheel.
    Type: Grant
    Filed: April 5, 2016
    Date of Patent: July 2, 2019
    Assignee: STEERING SOLUTIONS IP HOLDING CORPORATION
    Inventors: Chang Wang, Anthony J. Champagne, Michael K. Hales
  • Patent number: 10308283
    Abstract: A parking assist apparatus includes: a peripheral image generation portion that generates an overhead image of a periphery viewed from above based on a captured image of a periphery of a vehicle; and a display image generation portion that generates a display image by superimposing a host vehicle image displaying a host vehicle on one of left and right sides in the overhead image and superimposing a target frame displaying a target of a movement destination of the vehicle on the other of the left and right sides in the overhead image in an assist mode of a forward parking or a backward exit.
    Type: Grant
    Filed: September 14, 2017
    Date of Patent: June 4, 2019
    Assignee: AISIN SEIKI KABUSHIKI KAISHA
    Inventor: Hiroki Inagaki
  • Patent number: 10300945
    Abstract: A vehicle control apparatus includes: a clocking section which clocks time after an operation section is operated until a certain period of time elapses; and a vehicle control section which starts a first control in a case where a vehicle is stopped within the certain period of time after the operation section is operated, the first control corresponding to a control executed in a case where the operation section is operated in a state where the vehicle is stopped.
    Type: Grant
    Filed: September 14, 2017
    Date of Patent: May 28, 2019
    Assignee: AISIN SEIKI KABUSHIKI KAISHA
    Inventors: Yusuke Kiyokawa, Tomoyuki Matsuba
  • Patent number: 10293851
    Abstract: An electric motor can be accurately drive-controlled even when a failure occurs in a motor electric angle detection unit. When at least one of a resolver and an angle computation unit is diagnosed as abnormal in an initial diagnosis after a system restart, a motor electric angle initial value is estimated on a basis of a response output of a three-phase electric motor in response to input of a motor drive signal to the three-phase electric motor, a motor electric angle estimation value is calculated on a basis of an output shaft rotation angle detection value detected by an output-side rotation angle sensor and a relative offset amount estimated on a basis of the estimated motor electric angle initial value, and the three-phase electric motor is drive-controlled on a basis of the calculated motor electric angle estimation value.
    Type: Grant
    Filed: July 25, 2016
    Date of Patent: May 21, 2019
    Assignee: NSK LTD.
    Inventor: Nobuo Ukai
  • Patent number: 10286953
    Abstract: A system and strategy for reducing rapid steering wheel movement at the end of an autopark maneuver. The strategy includes maintaining or ramping-out power-steering motor torque to reduce steering wheel movement that may occur due to tire windup that has occurred up to that point in the autopark maneuver. The strategy may include the stopping of an autopark maneuver at any time during the maneuver, or functioning at the end of an autopark maneuver. The autopark event may be a park-out maneuver.
    Type: Grant
    Filed: September 17, 2014
    Date of Patent: May 14, 2019
    Assignee: Ford Global Technologies, LLC
    Inventors: Erick Michael Lavoie, Nathaniel Abram Rolfes
  • Patent number: 10279837
    Abstract: A vehicle steering angle detecting apparatus and an electric power steering apparatus equipped therewith. The apparatus connects a motor, which assist-controls a steering system of a vehicle, to the steering shaft via a reduction mechanism, and includes a first angle sensor which detects the steering shaft angle of the steering shaft and the second angle sensor which detects the motor shaft angle of the motor, including: a function that updates a static characteristic map and a dynamic characteristic map by iteratively learning a static characteristic and a dynamic characteristic of the nonlinear elements including the reduction mechanism, and mutually estimates the steering shaft angle and the motor shaft angle by using the static characteristic map and the dynamic characteristic map.
    Type: Grant
    Filed: September 16, 2016
    Date of Patent: May 7, 2019
    Assignee: NSK LTD.
    Inventors: Ryo Minaki, Hideki Sawada, Takayoshi Sugawara
  • Patent number: 10259489
    Abstract: An electric steering control device controls a steering characteristic by outputting an assist torque using a motor, and the assist torque corresponds to a detection value of a steering torque which is applied to a steering shaft. The electric steering control device includes a steering target value generation unit generating a target value of the steering torque based on a state amount estimated from the target value of the steering torque and the assist torque, a command value generation unit generating a command value for controlling the motor to reduce a deviation between the target value of the steering torque and the detection value of the steering torque to a level lower than a predetermined threshold, and a motor drive unit driving the motor based on the command value.
    Type: Grant
    Filed: August 21, 2015
    Date of Patent: April 16, 2019
    Assignee: DENSO CORPORATION
    Inventors: Yuuichi Minamiguchi, Motoaki Kataoka, Yosuke Hirate
  • Patent number: 10259500
    Abstract: A parking assist apparatus includes: a peripheral image generation portion that generates an overhead image of a periphery viewed from above based on a captured image of a periphery of a vehicle; and a display image generation portion that generates a display image by superimposing a host vehicle image displaying a host vehicle on one of left and right sides in the overhead image and superimposing a target frame displaying a target of a movement destination of the vehicle on the other of the left and right sides in the overhead image in an assist mode of a forward parking or a backward exit.
    Type: Grant
    Filed: September 14, 2017
    Date of Patent: April 16, 2019
    Assignee: AISIN SEIKI KABUSHIKI KAISHA
    Inventor: Hiroki Inagaki
  • Patent number: 10232873
    Abstract: Methods, apparatus, and articles of manufacture to identify non-uniformity in a vehicle steering system are disclosed. An example apparatus includes a first sensor to measure a steering wheel angle relative to a first universal joint, a second sensor to measure a pinion angle relative to a second universal joint, and a third sensor to measure a torque relative to a torsion bar. The apparatus further includes a non-uniformity manager to determine a non-uniformity angle associated with a steering column, the non-uniformity angle based on the torque and comparing the steering wheel angle to the pinion angle, map the non-uniformity angle to a first position of the steering column, and determine an offset to adjust a steering response based on the first position.
    Type: Grant
    Filed: March 30, 2017
    Date of Patent: March 19, 2019
    Assignee: Ford Global Technologies, LLC
    Inventors: Lodewijk Wijffels, Sergio Codonesu, David Michael Russell, Cornelius Macfarland, Oliver Nehls, Jan Bremkens
  • Patent number: 10220878
    Abstract: A backing system for a vehicle-trailer unit includes an input device for providing a input used to determine a first and second requested hitch angle. The first hitch angle is disposed within a standard range of motion of the input device while the second hitch angle is disposed within a maximum range of motion, different from the standard range of motion. Movement of the input device in the standard range of motion limits the requested hitch angle to a first maximum value to prevent jack-knifing of the vehicle-trailer unit. However, movement of the input device in the maximum range of motion does not limit the actual hitch angle.
    Type: Grant
    Filed: November 28, 2016
    Date of Patent: March 5, 2019
    Assignee: Continental Automotive Systems, Inc.
    Inventors: Brandon Herzog, Ibro Muharemovic
  • Patent number: 10173717
    Abstract: [Problem] An object of the present invention is to provide an electric power steering apparatus that can accurately suppress a vibration, a noisy sound and so on whose vibration source is a power spectrum occurring from a relationship between an operation period of torque control and an operation period of current control, and which occur regardless of presence or absence of a mechanical resonance.
    Type: Grant
    Filed: August 10, 2016
    Date of Patent: January 8, 2019
    Assignee: NSK LTD.
    Inventor: Takahiro Tsubaki
  • Patent number: 10160481
    Abstract: An electric power steering apparatus that achieves a desired steering characteristic in minutely steering at on-center, suppresses frictional feeling, and improves linear steering feeling at on-center, and a control apparatus that determines a parameter. The apparatus calculates a current command value by using an assist map related to a steering torque and a vehicle speed, drives a motor based on the current command value, and assists and controls a steering system.
    Type: Grant
    Filed: February 12, 2016
    Date of Patent: December 25, 2018
    Assignee: NSK LTD.
    Inventor: Takahiro Tsubaki
  • Patent number: 10160488
    Abstract: A steering system for a vehicle includes at least two wheels configured to be steered independently of each another. A steering setpoint generator is configured to steer the at least two wheels according to a steering program. An operating element is configured to rotate the vehicle during travel about a center of rotation which moves with a principal movement vector. The steering program is configured so that a direction of the principal movement vector of the center of rotation can be changed with the steering setpoint generator.
    Type: Grant
    Filed: October 14, 2016
    Date of Patent: December 25, 2018
    Assignee: HUBTEX MASCHINENBAU GMBH & CO. KG
    Inventor: Achim Otterbein
  • Patent number: 10144446
    Abstract: An apparatus for controlling a vehicle includes a power steering adjuster that adjusts an amount of an assistance in a steering to be provided by a power steering in accordance with a change in a state quantity related to an ease of a steering, and a steering stability controller that controls a control amount to perform a driving force control on a wheel of a vehicle in accordance with the change in the state quantity.
    Type: Grant
    Filed: August 16, 2016
    Date of Patent: December 4, 2018
    Assignee: SUBARU CORPORATION
    Inventors: Yoshisada Anma, Takeshi Torii
  • Patent number: 10124807
    Abstract: A vehicle control system includes a skill level module that determines a skill level of a driver of the vehicle based on both (i) a lateral acceleration of the vehicle and (ii) a longitudinal acceleration of the vehicle. A handling module determines a handling type based on a rate of change of a steering wheel angle. An actuator control module, based on the skill level of the driver and the handling type, selectively actuates a dynamics actuator of the vehicle.
    Type: Grant
    Filed: January 23, 2017
    Date of Patent: November 13, 2018
    Assignee: GM GLOBAL TECHNOLOGY OPERATIONS LLC
    Inventors: Michael G. Petrucci, Alexander J. MacDonald, Christopher J. Barber
  • Patent number: 10099722
    Abstract: A steering control apparatus is provided which suppresses possible vibration of a steering system resulting from differential steering processing when a steering angle or a steered angle has a large value. A differential steering processing circuit calculates a differential steering correction amount based on a difference value of a target steering angle, and increases or reduces the target steering angle using the calculated amount to obtain a target steered angle. A limiting reaction force setting processing circuit increases a limiting reaction force when a maximum value of the target steering angle and the target steered angle is equal to or larger than a common threshold. When the maximum value approaches the common threshold, an angle-sensitive gain setting processing circuit reduces an angle-sensitive gain so as to correct and reduce the differential steering correction amount.
    Type: Grant
    Filed: October 13, 2016
    Date of Patent: October 16, 2018
    Assignee: JTEKT CORPORATION
    Inventors: Takashi Kodera, Naoki Yamano, Hidenori Itamoto, Yoshihiro Yamashita, Koji Anraku
  • Patent number: 10099721
    Abstract: An electric power steering apparatus that reduces an uncomfortable feeling due to a noise at a steering holding and a low-speed steering time, and can smoothly steers so as to prevent a phase-lag at a high-speed steering time. The apparatus has a torque control section to calculate a current command value based on at least a steering torque, and assist-controls a steering system by driving a motor using a current control system based on the current command value. A motor angular velocity calculating section calculates a motor angular velocity from a motor rotational angle; a motor angular acceleration calculating section calculates a motor angular acceleration from the motor angular velocity; and a stability compensating section calculates a steering torque for compensation and a current command value for compensation based on the motor angular velocity and the motor angular acceleration. The steering torque compensates the steering torque, and the current command value compensates the current command value.
    Type: Grant
    Filed: November 5, 2015
    Date of Patent: October 16, 2018
    Assignee: NSK LTD.
    Inventors: Keita Yoshida, Yousuke Imamura, Masahiro Maeda
  • Patent number: 10086829
    Abstract: A method is provided to control a power steering device and an adaptive damping system of a motor vehicle. The power steering device makes available a mechanical steering angle range that is limited by steering stops. The adaptive damping system makes available a variable damping force. The damping force of the adaptive damping system is increased and a maximum achievable steering angle is simultaneously increased in case a steering stop is reached.
    Type: Grant
    Filed: August 11, 2016
    Date of Patent: October 2, 2018
    Assignee: GM GLOBAL TECHNOLOGY OPERATIONS LLC
    Inventors: Thomas Degenstein, Marcus-Andre Reul
  • Patent number: 10086866
    Abstract: [Problem] An object of the present invention is to provide an electric power steering apparatus with high quality and reasonable price that estimates a motor shaft angle and a steering shaft angle with high accuracy by learning nonlinear elements of a mechanism system and a steering system, and can back up the both angle sensors by utilizing the estimating angles of the angle sensors.
    Type: Grant
    Filed: July 7, 2016
    Date of Patent: October 2, 2018
    Assignee: NSK LTD.
    Inventors: Ryo Minaki, Takayoshi Sugawara, Hideki Sawada
  • Patent number: 10059370
    Abstract: The present embodiments relate to an electronic power steering device, and relates to a technology for reducing a torque rise resulting from an increase in frictional force in a low-temperature situation of the electronic power steering device. According to the present embodiments, a viscous friction compensation current is calculated using a viscous gain, which has been determined according to a damping coefficient estimated from a temperature sensed in a low-temperature situation of the electronic power steering device, and a steering angular velocity, a Coulomb friction compensation current is calculated using the sensed temperature and the mount of accumulated steering angles, and the calculated viscous friction compensation current and the Coulomb friction compensation current are added to the motor driving current and then supplied such that the driver can have the same feeling of driving, even in the low-temperature situation, as that in the room-temperature situation.
    Type: Grant
    Filed: January 17, 2017
    Date of Patent: August 28, 2018
    Assignee: MANDO CORPORATION
    Inventor: Seung Gi Min
  • Patent number: 10053109
    Abstract: Systems and methods for controlling a vehicle including a friction control device are provided. A method of controlling the vehicle includes operating at least one friction control device in a first of a plurality of friction modes, detecting a vehicular speed, changing operation of the at least one friction control device from the first friction mode to a second of the plurality of friction modes in response to the vehicular speed exceeding a first threshold speed value, and changing operation of the at least one friction control device from the second friction mode to the first friction mode in response to the vehicular speed falling below a second threshold speed value that is less than the first threshold speed value. The second friction mode is associated with a higher level of resistance than the first friction mode.
    Type: Grant
    Filed: February 26, 2016
    Date of Patent: August 21, 2018
    Assignee: Honda Motor Co., Ltd.
    Inventor: Jinghong Yu
  • Patent number: 10000135
    Abstract: A wireless power supply device includes a marker provided closer to a side where a vehicle enters when parked than a power transmission coil unit housing a power transmission coil. The marker includes at least two segments not parallel to each other, and an end portion of one segment is connected to another segment. The power transmission coil is separated by a predetermined distance from a point of intersection of the two segments in a direction in which the one segment extends.
    Type: Grant
    Filed: September 30, 2013
    Date of Patent: June 19, 2018
    Assignee: NISSAN MOTOR CO., LTD.
    Inventors: Shigeyuki Yoshida, Masaki Konno, Yoshitake Fukushima
  • Patent number: 9988074
    Abstract: A steering control apparatus controls steering characteristics by controlling a motor to output assist torque, which is generated corresponding to a steering torque applied to a steering shaft. The steering control apparatus includes a torque deviation generator generating a torque deviation between the steering torque applied to the steering shaft and a target steering torque and a command value generator generating an assist torque command value for controlling the motor based on a basic command value. The basic command value controls the torque deviation to become zero. The command value generator includes an integrator integrating and outputting the torque deviation and an output limiter setting an output limit to an immediately previous basic command value obtained immediately before the basic command value. The output limiter generates the assist torque command value using the immediately previous basic command value to which the output limit is set.
    Type: Grant
    Filed: November 24, 2015
    Date of Patent: June 5, 2018
    Assignee: DENSO CORPORATION
    Inventors: Yosuke Hirate, Motoaki Kataoka
  • Patent number: 9981685
    Abstract: A steering control device can restrain a steering from being operated to cause a steered angle and a steering angle to exceed their upper limit values. A first limiting reaction force setting circuit increases a first reaction force rapidly if the steering angle becomes no smaller than a steering angle threshold. A second limiting reaction force setting circuit increases a second reaction force rapidly if the steered angle becomes no smaller than a steered angle threshold. A target steering angle setting circuit sets a target steering angle based on steering torque applied to the steering minus the first reaction force, the second reaction force, etc. A steering angle control circuit sets reaction torque as a manipulated variable for feedback controlling the steering angle to the target steering angle. An operation signal generation circuit outputs an operation signal to a reaction force motor so as to achieve reaction torque.
    Type: Grant
    Filed: July 18, 2016
    Date of Patent: May 29, 2018
    Assignee: JTEKT CORPORATION
    Inventor: Takashi Kodera
  • Patent number: 9956914
    Abstract: In a parking assistance device, a ground mark indicating the coil axis direction and position of a ground coil is placed at a parking space, and a vehicle mark indicating the coil axis direction and position of a vehicle coil is displayed in an image displayed on a display unit. Then, the vehicle mark is displayed in the image in such a way as to be superimposed on the ground mark when the vehicle on which the vehicle coil is mounted reaches a position and angle at which the vehicle can be wirelessly charged.
    Type: Grant
    Filed: January 30, 2014
    Date of Patent: May 1, 2018
    Assignee: Nissan Motor Co., Ltd.
    Inventor: Yoshitake Fukushima
  • Patent number: 9956841
    Abstract: In a suspension controlling apparatus for a vehicle which includes a suspension whose damping force is variably settable and a control unit for calculating acceleration of the vehicle in a forward and rearward direction on the basis of brake hydraulic pressure detected by a hydraulic pressure sensor for detecting brake hydraulic pressure and is capable of controlling the damping force of the suspension with target damping force determined on the basis of the acceleration. In addition, appropriate control is also possible upon antilock braking control. A control unit includes an acceleration calculation device for calculating, upon ordinary braking, acceleration on the basis of ordinary braking force corresponding to a detection value of a hydraulic pressure sensor but calculating, upon antilock braking control, the acceleration on the basis of given antilock brake controlling braking force.
    Type: Grant
    Filed: March 4, 2016
    Date of Patent: May 1, 2018
    Assignee: HONDA MOTOR CO., LTD.
    Inventor: Yoshiaki Nedachi
  • Patent number: 9868422
    Abstract: A control apparatus and a method of a brake system include an input unit receiving a connection signal on a connection between a vehicle and a trailer sensed by a sensing apparatus and receives current yaw rate error information of the vehicle according to current oscillation information of the trailer, a determination unit determining whether the vehicle and the trailer are mutually connected based on the connection signal, and a control unit selecting target yaw rate information preset while being divided for each type and weight of the trailer depending on the connection of the trailer to reduce a yaw rate error rate with respect to the current yaw rate error information of the vehicle according to the current oscillation information and transmitting a brake command to the brake system to brake the vehicle according to the selected corresponding target yaw rate information.
    Type: Grant
    Filed: February 12, 2016
    Date of Patent: January 16, 2018
    Assignee: MANDO CORPORATION
    Inventor: Woong-Ki Lee
  • Patent number: 9863777
    Abstract: A system includes a processor configured to receive information relating to a vehicle location. The processor is also configured to determine one or more filters, based on the received information, for filtering out a plurality of non-specified locations from varied location types. Further, the processor is configured to apply filters for each varied location type to select a plurality of non-specified locations. The processor is also configured to calculate an estimated time of arrival (ETA), for each of the selected locations, and deliver the selected locations and the calculated ETAs to a vehicle.
    Type: Grant
    Filed: February 25, 2013
    Date of Patent: January 9, 2018
    Assignee: Ford Global Technologies, LLC
    Inventors: Shane Elwart, Jeffrey Allen Doering, Timothy Mark Feldkamp
  • Patent number: 9834140
    Abstract: A method of providing visual reverse steering guidance indicators on a display in a vehicle includes having an electronic control unit display on a display in the vehicle an image of an area behind the vehicle that includes a target, display a projected path track of a projected path that the vehicle will travel based on a current alignment of a steering system of the vehicle, display a visual indicator of whether the projected path matches a target path that the vehicle must travel in reverse to align the vehicle with the target, when the projected path does not match the target path, displaying a visual indicator of a direction that a steering wheel of the vehicle must be turned to align the projected path with the target path, and updating the visual guidance indicators in real time as the vehicle is driven in reverse toward the target.
    Type: Grant
    Filed: July 22, 2014
    Date of Patent: December 5, 2017
    Assignee: FCA US LLC
    Inventor: Joshua G Windeler
  • Patent number: 9828028
    Abstract: When starting automatic pulling-in control, an electronic control unit calculates a temperature increase amount ?Ti of a motor caused by the execution of the automatic pulling-in control and a temperature increase amount ?To of the motor caused by the execution of automatic pulling-out control. Based on the current temperature of the motor, the temperature increase amount ?Ti, and the temperature increase amount ?To, the electronic control unit obtains a predicted temperature of the motor of a case in which the automatic pulling-out control is executed subsequent to the automatic pulling-in control. When the predicted temperature is lower than an allowable upper limit, starting of the automatic pulling-in control is permitted. When the predicted temperature is higher than or equal to the allowable upper limit, starting of the automatic pulling-in control is prohibited.
    Type: Grant
    Filed: June 5, 2013
    Date of Patent: November 28, 2017
    Assignee: Toyota Jidosha Kabushiki Kaisha
    Inventors: Hironobu Ishijima, Eriko Yamazaki, Keisuke Oyama, Hisashi Satonaka, Hidehiko Miyoshi, Keisuke Hata
  • Patent number: 9780703
    Abstract: A power supply may include power generation circuits, each configured to drive a respective winding of a multiphase motor; converter circuits, each configured to generate a digital driving signal for a respective power generation circuit, and a memory configured to store a plurality of fast recirculation compensation values corresponding to combinations of the digital driving signals that would otherwise result in a fast recirculation condition. The power supply may also include a controller coupled to the memory and configured to determine when a given combination of the digital driving signals would otherwise result in a fast recirculation condition, and based upon the determination, substitute at least one corresponding fast recirculation compensation value for the given combination of the digital driving signals.
    Type: Grant
    Filed: August 12, 2015
    Date of Patent: October 3, 2017
    Assignee: STMicroelectronics S.r.l.
    Inventor: Giuseppe Maiocchi
  • Patent number: 9771068
    Abstract: There is provided a running-support system and a running-support method capable of providing more suitable running support at the time of turning a curve. In the running-support system or the running-support method, a steering-support section provides steering support using at least one of a piece of map information on a curve and a lane image picked up by an image pickup section at the time of turning the curve. The steering-support section suppresses the steering support without being based on the piece of map information when the steering-support section detects an end point of the curve on the basis of the lane image.
    Type: Grant
    Filed: March 18, 2016
    Date of Patent: September 26, 2017
    Assignee: HONDA MOTOR CO., LTD.
    Inventors: Yuki Kizumi, Yosuke Sakamoto
  • Patent number: 9738307
    Abstract: 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: Grant
    Filed: April 8, 2013
    Date of Patent: August 22, 2017
    Assignee: Mitsubishi Electric Corporation
    Inventors: Masaya Endo, Hidetoshi Ikeda, Isao Kezobo, Kenji Ogawa, Taizo Toda
  • Patent number: 9682708
    Abstract: A driving support controller determines whether it is an opportunity to change a traveling lane based on a predetermined condition in an self-driving activated state in which an acceleration, a deceleration, and a steering of a vehicle equipped with the driving support controller can be automatically controlled, and performs a control to present a lane change proposal to an operator of the vehicle when a lane change is determined to be possible. The device performs an automatic lane change control in response to an intention of the operator agreeing to the lane change proposal. In this case, when the operator's intention is determined to be in disagreement with the lane change proposal, the control to present the lane change proposal to the operator is suspended until a predetermined cancelling condition is met.
    Type: Grant
    Filed: September 16, 2015
    Date of Patent: June 20, 2017
    Assignee: FUJI JUKOGYO KABUSHIKI KAISHA
    Inventor: Tasuku Maruyama
  • Patent number: 9676413
    Abstract: An apparatus for controlling start-up of a lane keeping assistance system (LKAS) which prevents lane departure of a first vehicle includes a detecting unit configured to detect a second vehicle which is traveling in a neighboring lane, a dividing line interposed between the first vehicle and the second vehicle, and a start-up controlling unit configured to determine a weighting factor based on a detection result of the detecting unit, change parameters which control a time point of the start-up of the LKAS based on the determined weighting factor, and control the time point of the start-up of the LKAS based on the changed parameters.
    Type: Grant
    Filed: December 2, 2015
    Date of Patent: June 13, 2017
    Assignee: Hyundai Mobis Co., Ltd.
    Inventors: Kwang Il Choi, Seung Han Yang, Dong Ho Song
  • Patent number: 9669841
    Abstract: Disclosed are a control system and a control method for fail safety of a motor driven power steering (MDPS). The system may include a straight motion/turning determination module for determining whether a vehicle is in a straight motion or turning based on a steering angle of a steering wheel, a steering torque of the steering wheel and a vehicle speed of the vehicle, a fail determination module for determining whether an MDPS fail occurs based on a steering torque of a driver and a motor torque of the MDPS if the vehicle is in the straight motion, a fail type determination module for determining a type of the MDPS fail using a yaw rate change rate if the MDPS fail occurs, and a yaw rate change rate detection module for inputting the yaw rate change rate to the fail type determination module.
    Type: Grant
    Filed: November 25, 2015
    Date of Patent: June 6, 2017
    Assignee: Hyundai Motor Company
    Inventors: Yoon Kab Noh, Jong Ho Lee, Yang Soo Noh, Min Woo Han
  • Patent number: 9669813
    Abstract: In a driving support system of a vehicle, there is provided a structure that, even during operating a control based on a machine input, a driver's sense of incongruity can be reduced as much as possible and/or the steering of the driver be can reflected. The vehicle is equipped with a steering assist mechanism and a braking-driving force distribution mechanism of right and left wheels. In operations of the inventive device, a steering assist torque, applied by the steering assist mechanism, is controlled to a target value determined with reference to a target steering torque to achieve the target route, determined without depending on steering of a driver, and a driver's steering torque; and a braking-driving force difference between the right and left wheels is controlled to a target value based on a steering angle of the driver.
    Type: Grant
    Filed: March 21, 2016
    Date of Patent: June 6, 2017
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventors: Shintaro Inoue, Hideo Inoue, Yutaka Hirano, Pongsathorn Raksincharoensak
  • Patent number: 9637170
    Abstract: The present invention relates to a technology of compensating for steering torque. More particularly, the present invention provides a steering torque compensating apparatus including: a reference object recognition unit that recognizes a fixed reference object arranged in correspondence to a lane of a road by using a camera of a vehicle; a distance measurement unit that measures a distance difference between the vehicle and the fixed reference object; and an operation determination unit that calculates a distance change rate that is a change rate of the distance difference per time and determines whether the vehicle is driven forwards or rearwards, by using the distance change rate, and a steering torque compensating method.
    Type: Grant
    Filed: December 8, 2015
    Date of Patent: May 2, 2017
    Assignee: MANDO CORPORATION
    Inventor: Soon Tae Kim
  • Patent number: 9610943
    Abstract: A system for parallel parking a vehicle in a target parking space is provided herein. A sensing system is configured to detect objects located proximate the target parking space. A park assist system is communicatively coupled to the sensing system. The park assist system is configured to automatically steer the vehicle during a backing maneuver into the target parking space while limiting the speed of the vehicle based on a steering wheel angle. The sensing system is also configured to automatically steer the vehicle during maneuvers inside the target parking space while limiting the speed of the vehicle based on a relative position of at least one of a rear bounding object and a front bounding object.
    Type: Grant
    Filed: March 5, 2015
    Date of Patent: April 4, 2017
    Assignee: Ford Global Technologies, LLC
    Inventors: Erick Michael Lavoie, Nathaniel A. Rolfes, Bradley G. Hochrein
  • Patent number: 9540088
    Abstract: An outboard engine has a bracket. A drive unit mounted thereto is pivotable about a steering axis with respect thereto by a steering actuator. A motor operatively connected to the steering actuator is mounted to the bracket and rotationally fixed with respect thereto about the steering axis. A control module includes a motor drive electrically connected to the motor and configured to be connected to a power source. An electrically conductive thermal element is electrically connected to the motor. A temperature of the thermal element is indicative of a temperature of the motor. A controller is configured to obtain the temperature of the thermal element and to control power delivered to the motor via the motor drive based at least in part on the temperature of the thermal element. The controller and the thermal element are mounted to the drive unit and pivotable therewith about the steering axis.
    Type: Grant
    Filed: June 12, 2015
    Date of Patent: January 10, 2017
    Assignee: BRP US INC.
    Inventor: Michael French
  • Patent number: 9505429
    Abstract: There is provided an electric power steering apparatus capable of alleviating an impact force at the time of an end contact, while giving natural and smooth steering feeling to a driver without degrading the steering feeling. When steering angle (?s) is equal to or larger than a limit starting steering angle (?st), a voltage target value (Vt) of an electric motor (13) is limited, and an upper limit (current limiting value I_Lim) of a current command value (Iref) is set based on the limited voltage target value (Vt) and the motor rotation speed (N) by use of a motor output characteristic of the electric motor (13). Then, the electric motor (13) is driven and controlled based on a current command value (Iref_Lim) that has been limited with the current command value (I_Lim).
    Type: Grant
    Filed: September 30, 2014
    Date of Patent: November 29, 2016
    Assignee: NSK Ltd.
    Inventors: Yong Wei, Masahiro Maeda
  • Patent number: 9493183
    Abstract: A friction compensation logic of an MDPS (motor driven power steering) system to receive and to process a column torque signal and to output a friction compensation torque comprises: an accumulation speed adjusting portion to adjust an accumulation speed of a compensation section information set in the column torque signal; and a compensation amount adjusting portion in accordance with a vehicle speed to control so that the accumulation speed adjusting portion adjusts the accumulation speed of the compensation section information fast or slow in accordance with the vehicle speed, to adjust a compensation amount gain small or large in accordance with the vehicle speed, and to output a friction compensation torque.
    Type: Grant
    Filed: April 28, 2015
    Date of Patent: November 15, 2016
    Assignee: HYUNDAI MOBIS CO., LTD.
    Inventor: Seung Hoon Yang
  • Patent number: 9452775
    Abstract: A friction compensation control unit includes a contact state determination unit that determines the contact state of a speed reducer, a friction coefficient estimation unit that estimates a friction coefficient of a power column, and a frictional force estimation unit that estimates a frictional force generated in the power column. The contact state determination unit determines the contact state of the speed reducer based on a first assist torque command value, a detected steering torque, and an estimated load torque. The friction coefficient estimation unit estimates a friction coefficient of the power column based on an estimated motor angular velocity. The friction force estimation unit computes a second assist torque correction value based on the result of determination made by the contact state determination unit, the friction coefficient, the detected steering torque, the estimated load torque, and the estimated motor angular velocity.
    Type: Grant
    Filed: November 15, 2013
    Date of Patent: September 27, 2016
    Assignee: JTEKT CORPORATION
    Inventors: Tsutomu Tamura, Robert Fuchs
  • Patent number: 9454153
    Abstract: Automatic calibration, tuning and diagnostics improve precision farming by helping farmers obtain best performance from their autopilot-guided vehicles. Automatic calibration procedures that cannot be accurately performed by human drivers, automatic autopilot tuning, and simplified diagnostics are all parts of an advanced farm vehicle autopilot system.
    Type: Grant
    Filed: November 24, 2014
    Date of Patent: September 27, 2016
    Assignee: Trimble Navigation Limited
    Inventors: Brandon M Sights, John W Peake
  • Patent number: 9371091
    Abstract: A parking assist system and method that includes a plurality of ultrasonic wave sensors configured to measure a distance between a host vehicle and an external object and an motor driven power steering controller configured to operate steering of the host vehicle. In addition, a controller is configured to detect a parallel parking space based on distances measured from the plurality of ultrasonic wave sensors and to perform an exit from the parallel parking space while operating a steering angle through cooperative control with the MDPS controller.
    Type: Grant
    Filed: December 9, 2013
    Date of Patent: June 21, 2016
    Assignees: Hyundai Motor Company, Kia Motors Corporation
    Inventors: Kyohoon Moon, Hyoun Soo Han
  • Patent number: 9359008
    Abstract: A stability control device is provided that is capable of reducing an unpleasant sensation imparted to a driver in a steer-by-wire vehicle. The stability control device includes a steer-by-wire controller that controls a turning amount of the turning part based on a steer-by-wire turning amount that corresponds to a steering amount of the steering unit, a turning amount for suppressing the yaw angle, which is an angle formed by a white line and a traveling direction of a host vehicle, and a turning amount for returning the host vehicle to the center of a lane when the host vehicle has departed from the center of the lane. The controller controls a steering reaction force based on the steering amount without the yaw angle-suppressing turning amount and the lane-center-returning turning amount being reflected in the steering reaction force imparted to the steering unit.
    Type: Grant
    Filed: September 25, 2013
    Date of Patent: June 7, 2016
    Assignee: Nissan Motor Co., Ltd.
    Inventor: Yuya Takeda
  • Patent number: 9350282
    Abstract: This motor control device generates a voltage command value from a current command value, performs feedback control by means of a detected current flowing through a motor, and is provided with: a speed control unit that performs speed control of the motor; a voltage measurement unit that measures a voltage command value that is on the basis of the output of the speed control unit when the motor is rotating at a set speed; and a correction value calculation unit that calculates a correction value for the rotational position of the motor on the basis of the measured voltage command value.
    Type: Grant
    Filed: October 4, 2012
    Date of Patent: May 24, 2016
    Assignee: MITSUBISHI HEAVY INDUSTRIES, LTD.
    Inventor: Yoshiki Kato
  • Patent number: 9312799
    Abstract: This motor control device generates a voltage command value from a current command value and performs feedback control by means of a detected current flowing through a motor. The motor control device is provided with: a speed control unit that causes the motor to rotate at a set speed, and performs speed control of the motor on the basis of a speed command value that causes the flow of a d-axis current that is a set amount of current; a current measurement unit that measures a current command value that is on the basis of the output of the speed control unit when the motor is rotated at the set speed and the set amount of d-axis current is flowing; and a correction value calculation unit that calculates a correction value for the rotational position of the motor on the basis of the measured current command value.
    Type: Grant
    Filed: October 3, 2012
    Date of Patent: April 12, 2016
    Assignee: Mitsubishi Heavy Industries, Ltd.
    Inventor: Yoshiki Kato