Feedback, Transfer Function Or Proportional And Derivative (p& D) Control Patents (Class 701/42)
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Patent number: 9008915Abstract: A method for operating steerable rear wheels of a vehicle includes detecting a rear wheel steering angle of at least one of the steerable rear wheels, and detecting a first vehicular condition. The method further includes determining a weighted rear steering angle value based at least in part upon the rear wheel steering angle and the first vehicular condition, and controlling the steerable rear wheels in response to the weighted rear steering angle value.Type: GrantFiled: February 13, 2013Date of Patent: April 14, 2015Assignee: Honda Motor Co., Ltd.Inventors: Xiaodi Kang, Christopher J. Cymbal, David A. Thompson
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Patent number: 9008914Abstract: In the present invention, when a solid object is recognized in the direction of movement of an own vehicle, in a system which carries out driving support of a vehicle, turning control of the vehicle is carried out in order to avoid a collision with the solid object. However, the execution of the turning control is permitted, in cases where a distance between the position of the own vehicle under turning control and the position of the solid object in an entire range of a turning control zone continuous between a predetermined control starting point at which the turning control of the own vehicle is started and a predetermined control ending point at which the turning control ends becomes equal to or less than a predetermined avoidance distance at which it is determined to avoid the collision with the solid object.Type: GrantFiled: September 26, 2011Date of Patent: April 14, 2015Assignee: Toyota Jidosha Kabushiki KaishaInventor: Tomonori Akiyama
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Patent number: 9002583Abstract: A torque actuator is regulated so as to permit an activation of the torque actuator such that steering wheel rotary oscillations that occur can be compensated. For this purpose, in one embodiment, a torsion bar torque is detected. A compensation torque is determined as a function of the detected torsion bar torque by means of a variable-frequency disturbance variable and state variable calculator. The compensation torque or a signal corresponding to the compensation torque is then taken into consideration during activation of the torque actuator.Type: GrantFiled: January 7, 2013Date of Patent: April 7, 2015Assignee: ZF Lenksysteme GmbHInventors: Stefan Gruener, Thomas Nierobisch
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Publication number: 20150094915Abstract: A vehicle lane keeping control system calculates a feedforward control amount on the basis of a vehicle traveling path, calculates a first positional deviation amount between a vehicle and a target course at a first forward attention point when the vehicle travels in a straight line to the first forward attention point if a steering torque exceeds a threshold value, calculates a first lateral position feedback control amount, calculates an amount of deviation between an estimated vehicle traveling path and the target course at a second forward attention point remote from the first forward attention point if the first lateral position feedback control amount is lower than the threshold value, calculates a second lateral position feedback control amount, and calculates an electric motor current value by using at least the feedforward control amount and one of the first and second lateral position feedback amounts.Type: ApplicationFiled: September 4, 2014Publication date: April 2, 2015Inventor: Hajime OYAMA
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Patent number: 8996251Abstract: A base assist section generates a base assist command so that a steering reaction according to a road surface reaction returns to a steering wheel side. A modifying section generates a torque modifying command for modifying the base assist command so that an unstable movement of a vehicle converges appropriately. A sum of the each command becomes a final assist torque command. The base assist section estimates a road surface force based on the self-generated base assist command and a steering torque actually detected. A target steering torque is generated based on the estimated force, and the base assist command is generated based on a deviation of the target steering torque and the steering torque.Type: GrantFiled: August 29, 2012Date of Patent: March 31, 2015Assignee: Denso CorporationInventors: Motoaki Kataoka, Daiji Watanabe
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Patent number: 8989964Abstract: A vehicle speed control device is provided. The device includes a steering device which steers left and right wheels, first and second electric motors which separately apply power to the left and right wheels, an operation amount acquisition unit which acquires an acceleration operation amount by the driver of the vehicle, a steering angle acquisition unit which acquires a steering angle which is a value between an inner wheel steering angle and an outer wheel steering angle; a vehicle speed acquisition unit configured to acquire an actual speed of the vehicle; and a control unit configured to control the first electric motor and the second electric motor on the basis of the acceleration operation amount, the actual speed, the steering angle, and a steering geometry indicating a geometric relationship between the steering angle and a turning center of the vehicle.Type: GrantFiled: December 23, 2010Date of Patent: March 24, 2015Assignee: Advics Co., Ltd.Inventors: Yoshiyuki Yasui, Hiroaki Aizawa
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Patent number: 8989941Abstract: A maneuvering drive (24, 30) for a trailer (10) has a central unit (30), at least two drive units (24) by which wheels (16) of the trailer (10) can be driven and which are controlled by the central unit (30), each drive unit (24) including a checking module (40) by which drive specifications of the central unit (30) can be checked as to whether they can be fulfilled, and a feedback channel being provided by which the drive units (24) can feed back to the central unit (30) if the drive specifications cannot be fulfilled.Type: GrantFiled: October 21, 2013Date of Patent: March 24, 2015Assignee: Truma Geraetetechnik GmbH & Co., KGInventors: Steve Aemisegger, Daniel Gumpp, Jochen Mueller, Tobias Schmid, Klaus Muessler, Ana Maria Fernandez, Joerg Mueller, Oliver Schaurer, Mario Moehring, Mathias Venschott, Stefan Thiel, Kamil Zawadski
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Patent number: 8987620Abstract: The present invention provides haptic steering wheel switch apparatus including: a haptic wheel housing unit disposed on a steering wheel of a vehicle; a circuit board unit disposed in the haptic wheel housing unit; and a haptic wheel device unit including a haptic wheel device actuator establishing an electrical connection with the circuit board unit and including a haptic shaft, a haptic knob connected to the haptic shaft and exposedly disposed on one surface of the haptic wheel housing unit, and a haptic wheel device sensing unit for detecting a rotating state of the haptic shaft, wherein the haptic knob achieves a rotary operation on a plane formed by the steering wheel of the vehicle, the haptic wheel device actuator moves in a longitudinal direction of the haptic shaft, and a button switch unit operating vertically and independently of the haptic knob is provided outside the haptic knob.Type: GrantFiled: April 25, 2012Date of Patent: March 24, 2015Assignee: Daesung Electric Co., Ltd.Inventors: Jun-ho Gohng, Lee-Hwa Jung, Dae Woo Kwon, Jin Young Lee, Su Young Ahn, Jung Hoo Bae
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Patent number: 8989965Abstract: An electric power steering apparatus includes a steering torque detector for detecting a steering torque applied to a steering mechanism, a motor for generating an assist force that assists steering of a steering wheel, a power voltage detector for detecting a power voltage of a power supply, a power voltage monitoring section for determining a power voltage detection value detected by the power voltage detector and a motor drive controller for calculating an assist amount based on the steering torque and controlling drive of the motor through a driving section. Assist control is maintained based on a drive possible characteristic corresponding to a reduction level of the power voltage of FETs when the power voltage monitoring section determines that the power voltage detection value is less than or equal to an assist operation possible power voltage.Type: GrantFiled: November 5, 2010Date of Patent: March 24, 2015Assignee: NSK Ltd.Inventors: Hirokazu Abe, Yoshiki Ninomiya
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Publication number: 20150081139Abstract: The invention concerns a device for the active control of a force feedback for a control device, comprising a calculator, a position sensor (3) configured to provide the calculator with an effective position signal (Pm) of the control device, and an actuator (2) ensuring the displacement of the control device at the command of the calculator, the calculator being configured to use the effective position signal and modulate a setpoint current (lc) delivered to the actuator to ensure the position feedback of the displacement of the control device, characterised in that the calculator is further configured to create at least one saturation terminal (Bsat+, Bsat?) according to a predetermined function of the value of the effective position signal of the position/force law kind, and to saturate the setpoint current using the at least one saturation terminal.Type: ApplicationFiled: April 15, 2013Publication date: March 19, 2015Inventors: Geoffrey Beggiora, Jerome Piaton, Guillaume Mercier, Yann Vendenbaviere
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Patent number: 8983729Abstract: A method and device for stabilizing a vehicle combination consisting of a tractor vehicle and a trailer are provided. In an embodiment, the method includes detecting a steering intervention that acts upon the steered wheels of the tractor vehicle and determining a current steering angle change ??(t) caused by the steering intervention and a corresponding current angular steering velocity d?(t)/dt. A current speed of the tractor vehicle v(t) is determined A braking intervention, by which the wheel brakes of the trailer are activated, is automatically triggered in dependence on the current steering angle change ??(t), the current angular steering velocity d?(t)/dt, and the current speed v(t).Type: GrantFiled: January 16, 2013Date of Patent: March 17, 2015Assignee: GM Global Technology Operations LLCInventor: Uwe Hahne
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Patent number: 8983724Abstract: In a method for setting an actuator that influences the driving dynamics of a vehicle as a function of signals of a surround sensor system, the lateral distance of the vehicle from another vehicle is determined, and in case a minimum lateral distance is undershot, the actuator in the vehicle is actuated for the generation of a yawing moment.Type: GrantFiled: August 2, 2010Date of Patent: March 17, 2015Assignee: Robert Bosch GmbHInventor: Florian Hauler
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Patent number: 8983728Abstract: A motor vehicle includes a steering wheel for steering front wheels of the motor vehicle, an actuator for automatically steering rear wheels of the motor vehicle, and a control device storing at least two different characteristic curve fields relating to the position of the rear wheels in relation to the position of the front wheels for controlling the actuator. The control device selects one of the two characteristic curve fields depending on a parameter relating to the position of the steering wheel or a change in the position of the steering wheel. When driving the motor vehicle in reverse, the actuator reversibly and continuously adjusts the rear wheels between a steering position that is identical to a steering position of the front wheels and a steering position that is opposite to the steering position of the front wheels.Type: GrantFiled: August 17, 2012Date of Patent: March 17, 2015Assignee: Audi AGInventors: Christoph Kossira, Hugo Müller, Ulrich Voll
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Patent number: 8983731Abstract: A power-steering device and method for controlling a device for a motor vehicle including a stop and start system, the device including an electric pump unit including at least one electric motor and one processor. The method includes a stage in which the electric pump unit is switched to a standby mode by reducing rotation speed of the electric motor, this stage implemented by the processor following receipt of a control signal sent by the stop and start system to the processor, the signal representing an automatic switching of a heat engine into a stop mode. The method enables the power-steering device to be kept in operation during an automatic stopping phase of the heat engine, without resulting in unwanted noise or excessive electricity draw.Type: GrantFiled: December 13, 2011Date of Patent: March 17, 2015Assignee: Renault s.a.s.Inventor: Eric Chauvelier
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Patent number: 8983727Abstract: A steering control apparatus is obtained which can achieve a sophisticated control function and redundancy of a motor output torque control unit with a simple construction. The apparatus includes a motor 3 that provides assist torque to a steering system, and a processing unit 2 that has an input processing section 21 for taking in detection signals of various kinds of sensors, and an inverter 25a for driving the motor 3, wherein a command is given to the inverter 25a based on the detection signals. The processing unit 2 has a motor target output torque calculation section 221a, a motor output torque control unit 222, a plurality of main-calculation sections, and a plurality of sub-calculation sections corresponding to the main-calculation sections, and determines abnormality of the motor output torque control unit 222 based on individual calculation results of the main-calculation sections and the sub-calculation sections.Type: GrantFiled: May 30, 2006Date of Patent: March 17, 2015Assignee: Mitsubishi Electric CorporationInventors: Takayuki Kifuku, Hiroyuki Kozuki, Masaki Matsushita
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Patent number: 8983788Abstract: A method includes detecting a first event and executing a first procedure to identify a sensor offset in response to detecting the first event. The method further includes determining, via a computing device, whether the sensor offset was measured during the execution of the first procedure, scheduling a second procedure to execute in response to detecting a second event if the sensor offset was not measured during the first procedure, and scheduling the first procedure to execute in response to detecting a subsequent occurrence of the first event if the sensor offset was measured during the first procedure.Type: GrantFiled: October 1, 2010Date of Patent: March 17, 2015Assignee: GM Global Technology Operations LLCInventors: Wei D. Wang, Steven E. Schulz, Jeffrey David, Jackie L Cui, Andrew M. Zettel, Hanne Buur
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Patent number: 8983730Abstract: An electric motor has a stator and a rotor that are used in common between two systems. An ECU controls the motor torque by supplying drive electric power to the motor coils independently of each other. When the ECU determines that the vehicle is traveling on a uneven road, the ECU causes the electric motor to perform a braking operation by short-circuiting at least two phases of the electric motor of one of the two systems that is other than the system that is executing a torque control of controlling the assist torque according to the steering torque and the vehicle speed.Type: GrantFiled: September 28, 2011Date of Patent: March 17, 2015Assignee: JTEKT CorporationInventor: Hiroshi Suzuki
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Patent number: 8977437Abstract: A target pinion angle computation unit computes a target pinion angle on the basis of a basic assist component and a steering torque, and computes the target pinion angle so as to rapidly increase a steering reaction force when it is determined based on the target pinion angle that a rack shaft of a rack-and-pinion mechanism reaches a position near a limit of a movable range of the rack shaft. In an EPS, a correction component for the basic assist component, which is necessary to increase the steering reaction force rapidly, is computed through execution of PID control for causing an actual pinion angle to coincide with the target pinion angle. Because the correction component is added to the basic assist component, the steering reaction force is increased rapidly when the rack shaft reaches the position near the limit of the movable range.Type: GrantFiled: September 11, 2013Date of Patent: March 10, 2015Assignee: JTEKT CorporationInventors: Terutaka Tamaizumi, Hirozumi Eki, Masayuki Kita, Isao Namikawa
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Patent number: 8977438Abstract: According to a relaxation length compensation torque computation section 54 of a vehicle steering apparatus 100, a relaxation length compensation torque is computed based on (1) a front wheel actual steering angular velocity computed from a motor rotation angular velocity input by a front wheel actual steering angular velocity computation section 52, and based on (2) a transfer function that is (a) expressed using a difference between a road surface reaction torque model and a referential reaction torque model and that is (b) determined according to a vehicle velocity input by a vehicle velocity sensor 20. A power steering controller 58 adds the relaxation length compensation torque to an assistance torque, and controls an EPS motor 3 so as to generate the assistance torque to which the relaxation length compensation torque has been added. The relaxation length compensation torque is thereby computed with good precision, enabling high handling performance to be achieved.Type: GrantFiled: November 7, 2013Date of Patent: March 10, 2015Assignee: Kabushiki Kaisha Toyota Chuo KenkyushoInventor: Eiichi Ono
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Patent number: 8977432Abstract: An ECU executes steering control in a vehicle including an electronic control power steering apparatus. In the steering control, it is determined that an assist motor is in a power generating state when a motor rotation speed ? which is the rotation speed of the assist motor is greater than an upper limit rotation speed ?1 set according to a motor command voltage Vq that is the driving voltage of the assist motor. When the assist motor is in the power generating state, the ECU interrupts the supply of current to the assist motor by controlling a relay portion of a drive apparatus that drives the assist motor so that it is open, thereby reducing the amount of power that is generated to zero. Also, when returning to an assist possible state, assist torque Tm is changed gradually with zero as the initial value in order to prevent it from changing suddenly.Type: GrantFiled: April 1, 2009Date of Patent: March 10, 2015Assignee: Toyota Jidosha Kabushiki KaishaInventors: Theerawat Limpibunterng, Takahiro Kojo
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Patent number: 8977436Abstract: An electric power steering system includes steering a torque detector that detects steering torque, and a motor that provides assist torque based on the detected steering torque, wherein for the purpose of estimating, without detecting motor rotation angular information and rotation angular velocity information, the road reaction torque in which the influence of the motor inertia torque is eliminated, a value corresponding to rotation velocity of a steering shaft is calculated based on the steering torque and the assist torque, to calculate road reaction torque based on the value corresponding to the rotation velocity of the steering shaft.Type: GrantFiled: July 13, 2011Date of Patent: March 10, 2015Assignee: Mitsubishi Electric CorporationInventors: Masaya Endo, Takashi Iwasaki, Masahiko Kurishige, Takayuki Kifuku, Yoshihiko Kinpara
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Publication number: 20150066302Abstract: A control apparatus of a motor-driven power steering (MDPS) includes: a torque sensor configured to measure a driver's steering torque inputted to a steering wheel and output a steering torque signal; a steering angle sensor configured to measure a steering angle of the steering wheel; a variable notch filter configured to reduce a torque ripple for the steering torque signal depending on a steering angle speed which is a change rate of the steering angle with respect to time; a vehicle speed sensor configured to measure vehicle speed; and a controller configured to receive the steering angle, the steering torque signal, and the vehicle speed from the steering angle sensor, the variable notch filter, and the vehicle sensor, respectively, and control drivability of a driving motor according to a driving speed of a vehicle.Type: ApplicationFiled: November 26, 2013Publication date: March 5, 2015Applicant: Hyundai Mobis Co., Ltd.Inventor: Seung Hoon YANG
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Publication number: 20150066303Abstract: There is provided an electric power steering system that makes it possible to reduce an uncomfortable feeling given to a driver even when current feedback control is executed in a state where a detected steering torque value is held. The electric power steering system includes a torque sensor that outputs a detection signal corresponding to a steering torque; and a controller that controls driving of a motor. The controller computes a detected steering torque value based on the detection signal from the torque sensor, and executes current feedback control for causing an actual current value of the motor to follow a current command value based on the detected steering torque value. When the detected steering torque value is held, the controller makes a feedback gain of the current feedback control smaller than a feedback gain that is used when the detected steering torque value is not held.Type: ApplicationFiled: August 20, 2014Publication date: March 5, 2015Inventor: Takashi KODERA
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Patent number: 8972115Abstract: A motor driven power steering (MDPS) may include: a vehicle speed sensor configured to sense vehicle speed; a temperature sensor configured to sense a temperature of a power pack; a current sensor configured to sense an amount of current applied to the MDPS; a storage unit configured to store a thermal resistance value based on the vehicle speed with respect to the temperature of the power pack; and a control unit configured to calculate an estimated temperature by reflecting the thermal resistance value based on the vehicle speed with respect to the temperature of the power pack and the current amount applied to the MDPS into a temperature estimation function, and drive a motor according to the calculated estimated temperature.Type: GrantFiled: February 12, 2014Date of Patent: March 3, 2015Assignee: Hyundai Mobis Co., Ltd.Inventor: Se Wook Oh
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Patent number: 8972113Abstract: Provided is an electric power steering system that prevents the oscillation of the steering wheel at each steering stroke end. If the steering stroke end flag Fse is 1 or if the determination result is Yes in step S8, the EPS-ECU (21) determines if the right steering flag (Fdrc) is 1 in step S10. If the determination result is Yes, it is then determined if the steering torque difference base value (Dtsb) is positive in step S11. If the determination result of step S11 is Yes, the EPS-ECU (21) uses the steering torque difference base value (Dtsb) as the steering torque difference (Dts) in step S12. If the determination result is No, the steering torque difference (Dts) is given by a value 0 in step S13, and the control process is concluded.Type: GrantFiled: October 26, 2011Date of Patent: March 3, 2015Assignee: Honda Motor Co., Ltd.Inventors: Junichi Seto, Kazuhiko Inaba, Norio Yamazaki, Kouji Nakamura, Satoshi Kawabe
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Patent number: 8972112Abstract: A steering control method is provided. The method includes determining a dynamic load on a steering system based on a dynamic model; and controlling the steering system based on the dynamic load.Type: GrantFiled: August 2, 2012Date of Patent: March 3, 2015Assignee: Steering Solutions IP Holding CorporationInventors: Siddharth H. D'Silva, Jon D. Demerly
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Publication number: 20150057892Abstract: A controller of an electric power steering system includes: a basic assist component computing unit (60) that computes a first assist component (Ta1*) based on a steering torque (Th); a steered angle command value computing unit (61) that computes a steered angle command value (?t*) based on the sum of the steering torque (Th) and the first assist component (Ta1*); and a steered angle feedback controller (62) that computes a second assist component (Ta2*) through feedback control on an actual steered angle (?t). The controller further includes: a correction component computing unit (65) that computes a correction component (Tc*) based on a steering angle (?s); and an assist command value computing unit (50) that computes an assist command value (Ta*) by subtracting the correction component (Tc*) from the sum of the first assist component (Ta1*) and the second assist component (Ta2*).Type: ApplicationFiled: August 19, 2014Publication date: February 26, 2015Inventors: Terutaka TAMAIZUMI, Masayuki KITA, Isao NAMIKAWA, Hirozumi EKI
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Publication number: 20150057891Abstract: A method for prioritizing potential threats identified by vehicle active safety systems. The method includes providing context information including map information, vehicle position information, traffic assessment information, road condition information, weather condition information, and vehicle state information. The method calculates a system context value for each active safety system using the context information. Each active safety system provides a system threat level value, a system braking value, a system steering value, and a system throttle value. The method calculates an overall threat level value using all of the system context values and all of the system threat level values. The method then provides a braking request value to vehicle brakes based on all of the system braking values, a throttle request value to a vehicle throttle based on all of the system throttle values, and a steering request value to vehicle steering based on all of the system steering values.Type: ApplicationFiled: August 22, 2013Publication date: February 26, 2015Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLCInventors: Upali Priyantha Mudalige, Michael Losh
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Patent number: 8965633Abstract: One or more vehicle steering measurements of a vehicle may be measured. One or more expected vehicle steering measurements may be calculated, each calculated expected vehicle steering measurement corresponding to one of the measured vehicle steering measurements. At least one difference between one of the measured vehicle steering measurements and its corresponding calculated expected vehicle steering measurement may be calculated. A speed of the vehicle may be measured. One or more current threshold values may be calculated based on the measured speed, each of the current threshold values corresponding to one of the measured vehicle steering measurements and its corresponding calculated expected vehicle steering measurement. An automatic vehicle control system may be deactivated when one or more of the calculated differences exceeds its corresponding current threshold value.Type: GrantFiled: September 2, 2011Date of Patent: February 24, 2015Assignee: GM Global Technology Operations LLCInventors: Jin-Woo Lee, Bakhtiar Brian Litkouhi
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Patent number: 8958952Abstract: An auxiliary power supply device includes a capacitor that is connected to a main power source, and that is able to discharge an electric current to an electric motor, the main power source supplying electric power to the electric motor; and a booster circuit that boosts a voltage of the main power source and applies the boosted voltage to the auxiliary power source. An operation of the auxiliary power supply device is controlled by a control device. When supply of the electric power from the main power source to the capacitor is started in a state where a voltage across terminals of the capacitor is equal to or higher than a voltage of the main power source, the control device increases the voltage applied to the capacitor by the booster circuit as the capacitor voltage increases.Type: GrantFiled: January 23, 2014Date of Patent: February 17, 2015Assignee: JTEKT CorporationInventors: Toyoki Sugiyama, Masayasu Higashi
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Patent number: 8958958Abstract: In hybrid construction machine employing a hydraulic motor and an electric motor for the driving of the swing structure, satisfactory operability of a combined operation of the swing structure and other actuators is secured irrespective of the operating status of the electric motor. A control device of the hybrid construction machine executes control selected from: hydraulic/electric complex swing control for driving the swing structure by total torque of the electric motor and the hydraulic motor when a swing operating lever device is operated; and hydraulic solo swing control for driving the swing structure by the torque of the hydraulic motor alone when the swing operating lever device is operated.Type: GrantFiled: January 5, 2012Date of Patent: February 17, 2015Assignee: Hitachi Construction Machinery Co., Ltd.Inventors: Shinya Imura, Kouji Ishikawa, Takatoshi Ooki, Shinji Nishikawa, Manabu Edamura, Takako Satake
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Publication number: 20150046040Abstract: An apparatus for driving a motor driven power steering (MDPS) may include: a first calculation unit configured to calculate a damping force gain based on an MDPS output current; a second calculation unit configured to calculate a damping force using vehicle speed and steering angle speed; and a damping force calculation unit configured to calculate a final damping force using the damping force gain calculated through the first calculation unit and the damping force calculated through the second calculation unit.Type: ApplicationFiled: March 6, 2014Publication date: February 12, 2015Applicant: HYUNDAI MOBIS CO., LTD.Inventors: Sang Min AHN, Eun Kyung GU
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Patent number: 8954236Abstract: A device combining motor driven power steering with a compressor, may include a deceleration gearbox connected to a steering shaft, a motor selectively providing a steering force to the deceleration gearbox, a first electronic clutch mounted between the deceleration gearbox and a first shaft of the motor, and transmitting or discontinuing transmission of power from the motor to the deceleration gearbox, a power transmitting gear set transmitting power from the motor to a compressor, a second electronic clutch mounted between a second shaft of the motor and an input side of the power transmitting gear set, and transmitting or discontinuing transmission of power from the motor to the power transmitting gear set, and the compressor for an air conditioner, connected to an output side of the power transmitting gear set.Type: GrantFiled: June 8, 2012Date of Patent: February 10, 2015Assignee: Hyundai Motor CompanyInventors: Dae Suk Jung, Un Koo Lee, Soo Bo Park
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Publication number: 20150039183Abstract: A device may estimate crosswind by a vehicle controller according to driver steering inputs indicative of driver intention and crosswind disturbance inputs indicative of a potential crosswind condition. The device may, if the estimated crosswind exceeds a predetermined threshold, utilize the vehicle controller to correct the crosswind condition to reduce vehicle control demand on the driver, the automatic correction including at least one of a steering angle adjustment and suspension stiffness adjustment.Type: ApplicationFiled: August 2, 2013Publication date: February 5, 2015Applicant: FORD GLOBAL TECHNOLOGIES, LLCInventors: Hsin-Hsiang Yang, Kwaku O. Prakah-Asante, Jianbo Lu
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Patent number: 8948970Abstract: [Problem] An object of the present invention is to provide an electric power steering apparatus that realizes weight saving and downsizing of component parts by counting and controlling the number of times of end hitting and simultaneously calculating a current limit value depending on the number of times of end hitting to limit assist.Type: GrantFiled: November 4, 2011Date of Patent: February 3, 2015Assignee: NSK Ltd.Inventors: Shinji Okada, Hideyuki Kobayashi, Naoki Sawada
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Patent number: 8948973Abstract: A method comprising the steps: a manually applied driver steering moment is detected; a requested superposition moment is detected; the driver steering and superposition moments are combined to form an intermediate moment from which an assistance moment is generated by means of a predefined, non-linear amplification function; starting from detected values of the driver steering and superposition moments, a modified superposition moment compensating for friction in the electric steering system at least in part is determined such that the amount of the modified superposition moment is larger than the amount of the superposition moment at least for some pairs of variates comprised of driver steering and superposition moments; the assistance and modified superposition moments are combined to form a motor moment from which a corresponding input signal for a servo motor is established; the servo motor is controlled with the established input signal to provide the motor moment.Type: GrantFiled: March 7, 2013Date of Patent: February 3, 2015Assignee: TRW Automotive GmbHInventors: Heinz-Dieter Heitzer, Dirk Zimmermann
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Publication number: 20150032335Abstract: A driving force transmission controller includes: a normal turning control unit that computes command values such that driving force transmitted to an outer wheel in a turning direction is larger than that transmitted to an inner wheel during normal turning; a counter-steering control unit that computes the command values such that the driving force transmitted to the outer wheel is larger than that transmitted to the inner wheel during counter-steering; a counter-steering return control unit that corrects the command values such that a rate of change in each of the driving forces transmitted to the right and left rear wheels is lower than a rate of change in a steered angle of front wheels when a steering velocity is equal to or higher than a prescribed value during the counter-steering; and a driving force transmission control unit that controls a driving force transmission device based on the command values.Type: ApplicationFiled: July 17, 2014Publication date: January 29, 2015Applicant: JTEKT CORPORATIONInventors: Akira KODAMA, Kenta Taniguchi
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Publication number: 20150032334Abstract: A steering wheel apparatus for adjusting stiffness and receiving a pressure is provided. The apparatus includes a rim having a ring-shaped frame structure and an air container disposed around an outer surface of the rim. An outer sheath covers an outer surface of the air container and an air nozzle is connected to an inside of the air container. A pressure sensor is mounted to the rim to detect a pressure by which the steering wheel apparatus is gripped and an air compressor and a vacuum pump are connected to the air nozzle. A steering controller analyzes signals input from sensors to maintain an air pressure of the air container and operate the air compressor or the vacuum pump when present condition information is satisfied. An engine controller analyzes a signal input from the pressure sensor and when the signal corresponds to a predetermined pressure or greater decelerate the vehicle.Type: ApplicationFiled: November 8, 2013Publication date: January 29, 2015Applicant: HYUNDAI MOTOR COMPANYInventor: Jin Hwan Jang
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Publication number: 20150032336Abstract: In a vehicle steering that sets a target steering reaction force to be applied to a steering wheel on the basis of a steering angle of the steering wheel and that applies the target steering reaction force to the steering wheel; the target steering reaction force is set so that the target steering reaction force changes on the basis of whether a steering mode of the steering wheel is turn steering in which the absolute value of a steered angle of a steered wheel is increased or return steering in which the absolute value of the steered angle is reduced; and the set target steering reaction force is applied to the steering wheel.Type: ApplicationFiled: December 6, 2012Publication date: January 29, 2015Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHAInventor: Chikara Okazaki
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Patent number: 8930079Abstract: A vehicle steering system includes an automatic steering control unit configured to control the vehicle steering system when in an automatic operational state and a driver intervention unit is configured to determine driver intervention during the automatic operational state. The driver intervention unit comprising a decision software module configured to determine driver intervention.Type: GrantFiled: October 22, 2009Date of Patent: January 6, 2015Assignee: GM Global Technology Operations LLCInventors: Yong H. Lee, Jihan Ryu, Weiwen Deng
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Patent number: 8930077Abstract: A damping control unit sets a damping torque command value that corresponds to a steering angular velocity when a direction of a detected steering torque is a turning direction, a magnitude of the detected steering torque is larger than or equal to a first threshold, a direction of the steering angular velocity is a returning direction and a magnitude of the steering angular velocity is higher than or equal to a second threshold. An addition unit adds the damping torque command value generated by the damping control unit to a basic assist torque command value set by a basic assist torque command value setting unit.Type: GrantFiled: November 16, 2012Date of Patent: January 6, 2015Assignee: JTEKT CorporationInventor: Masahiko Sakamaki
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Patent number: 8930080Abstract: A driver state estimation device 1 includes a steering angle sensor 2 detecting a steering angle of a steering, a steering torque sensor 3 detecting steering torque applied to the steering, and an ECU 4 having a steering angle estimation unit 5 and a driver state estimation unit 6. The steering angle estimation unit 5 is input with a steering angle (steering angle detected value) MA detected by the steering angle sensor 2 and steering torque (steering torque detected value) MT detected by the steering torque sensor 3, determines whether the steering angle detected value MA is 0 or not, when the steering angle detected value MA is 0, calculates a steering angle estimated value MAest by multiplying the steering torque detected value MT by the gradient of the steering angle (proportionality coefficient) ? with respect to the steering torque, and when the steering angle detected value MA is not 0, sets the steering angle detected value MA as the steering angle estimated value MAest.Type: GrantFiled: August 7, 2009Date of Patent: January 6, 2015Assignee: Toyota Jidosha Kabushiki KaishaInventor: Hideki Sakai
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Patent number: 8930081Abstract: A system for indicating an impending vehicle maneuver within a predetermined distance is provided. The system includes a navigational system and a control module. The navigational system receives a vehicle destination and determines a current geographical vehicle position. The navigational system determines if the impending vehicle maneuver is required within the predetermined distance based on the vehicle destination and the current geographical vehicle position. The control module is in communication with the navigational system and a handwheel. The control module sends a signal that creates a steering assist torque in the handwheel if the impending vehicle maneuver is required.Type: GrantFiled: March 21, 2012Date of Patent: January 6, 2015Assignee: Steering Solutions IP Holding CorporationInventors: Farhad Bolourchi, Timothy W. Kaufmann, Ashok Chandy
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Patent number: 8930082Abstract: A steering method for an industrial truck includes manually steering at least one steerable wheel with a steering transducer. The at least one steerable wheel is hydraulically connected or mechanically connected with the steering transducer. An angular position of the at least one steerable wheel is detected. At least one additional steerable wheel is motor-steered as a function of the detected angular position.Type: GrantFiled: April 5, 2011Date of Patent: January 6, 2015Assignee: Hubtex Maschinenbau GmbH & Co. KGInventor: Juergen Keller
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Patent number: 8924084Abstract: A control computing unit allocates a feedback axial force and a feedforward axial force at an allocation ratio based on an axial force difference which is a difference between the feedback axial force and the feedforward axial force to set a final axial force as a steering-rack axial force. The control computing unit drives a reaction force motor on the basis of the set final axial force.Type: GrantFiled: October 22, 2012Date of Patent: December 30, 2014Assignee: Nissan Motor Co., Ltd.Inventors: Yu wun Chai, Takaaki Eguchi, Yukinobu Matsushita, Kazuhiro Igarashi
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Patent number: 8924082Abstract: A method for controlling operation of a torque-assist motor includes determining a rotational position of the torque-assist motor and producing a motor speed signal that is indicative of a rotational speed of the motor. One or more gain factors are produced based on the rotational speed of the torque-assist motor. An electrical current applied to the torque-assist motor is detected, and a current error is calculated based on a commanded electrical current and the electrical current applied to the torque-assist motor. A quadrature axis voltage is calculated based on the current error and the one or more gain factors. An inverter is driven with a direct voltage signal that is phased with the rotational position of the torque-assist motor so as to produce the electrical current applied to the torque-assist motor. The electrical current exhibits a characteristic that is affected by the quadrature axis voltage.Type: GrantFiled: March 30, 2012Date of Patent: December 30, 2014Assignee: Steering Solutions IP Holding CorporationInventors: Abraham Gebregergis, Ramakrishnan RajaVenkitasubramony, Tomy Sebastian, Niharika P. Popy
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Patent number: 8924081Abstract: An electric power steering apparatus and control device integrated-type electric motor includes an electric motor driving circuit constituted by a plurality of semiconductor power elements and controlling electric power supplied to an armature winding of an electric motor, a switch device for opening and closing a connection between an input terminal of the electric motor driving circuit and an external power source, and another switch device for opening and closing the armature winding, wherein at least one of both the switch devices is constituted by a semiconductor switch element, and the power elements and the semiconductor switch element are mounted on a board attached to a metallic case.Type: GrantFiled: July 16, 2008Date of Patent: December 30, 2014Assignee: Mitsubishi Electric CorporationInventors: Isao Sonoda, Yoshihito Asao
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Patent number: 8924083Abstract: In a power steering system, a torque sensor obtains first and second rotation angles, and a steering angle sensor obtains third and fourth rotation angles. A controller includes a first absolute rotation angle calculation section, a second absolute rotation angle calculation section, and an abnormality detection section. The first absolute rotation angle calculation section calculates a first absolute rotation angle as a first estimate of an absolute rotation angle of a steering wheel based on the first and third rotation angles. The second absolute rotation angle calculation section calculates a second absolute rotation angle as a second estimate of the absolute rotation angle of the steering wheel based on the third and fourth rotation angles. The abnormality detection section detects an abnormality by comparison between the first absolute rotation angle and the second absolute rotation angle.Type: GrantFiled: April 1, 2013Date of Patent: December 30, 2014Assignee: Hitachi Automotive Systems Steering, Ltd.Inventors: Atsushi Yoshitake, Kohtaro Shiino, Hiroshi Sato
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Publication number: 20140379220Abstract: A vehicle with independently driven multiple axles and a controller which independently drives the multiple axles are disclosed. The controller includes a first controller which determines a target control value including at least one of a mechanical steering angle of each of a plurality of wheels of a vehicle, a target yaw moment of the vehicle, a target longitudinal force of the vehicle, and a target wheel speed of each of the plurality of wheels; and a second controller which determines wheel torques of the plurality of wheels, which drive the plurality of wheels independently, based on the target control value, wherein the wheel torques of the plurality of wheels are different from one another.Type: ApplicationFiled: June 23, 2014Publication date: December 25, 2014Applicants: SNU R&DB FOUNDATION, SAMSUNG TECHWIN CO., LTD.Inventors: Jong-seok LEE, Kyoung-su YI, Won-gun KIM, Soung-yong JOUNG
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Patent number: 8918227Abstract: In a method and a device for determining a vigilance state of a motor vehicle driver, a noise signal is generated and a supplementary torque as a function of the noise signal is applied to a steering assembly, a reaction signal of the vehicle driver is determined, and the vigilance state is determined from a time characteristic of the noise signal and a time characteristic of the reaction signal, at least one parameter of a parameterized transfer function from noise signal to reaction signal is determined, and the vigilance state is determined as a function of an absolute value of the at least one parameter and/or as a function of a relative change of the at least one parameter with regard to at least one earlier parameter, the at least one earlier parameter having been determined at an earlier instant in time.Type: GrantFiled: November 23, 2010Date of Patent: December 23, 2014Assignee: Volkswagen AGInventors: Mirko Junge, Maria Staubach