JTEKT Patente

A steering system (100) for steer-by-wire that holds an operating member (200) movably between a first position that is a position of the operating member (200) at which the operating member is able to be operated by a driver, and a second position that is further forward in the vehicle than the first position, the steering system (100) including a fixed member (110) that is attached to a vehicle body, a movable member (120) that supports the operating member (200) and that is attached to the fixed member (110) so as to be movable in a front-rear direction of the vehicle, a drive device (130) that moves the movable member (120) in the front-rear direction relative to the fixed member (110) and fixes the operating member (200) at the first position and the second position, and an impact absorbing mechanism (140) that is connected between the movable member (120) and the drive device (130) in a manner interposed therebetween, and that, in a case in which a first load L1 is applied to the movable member (120) from forward toward rearward in the vehicle, is deformed by the first load L1 and also allows the movable member (120) to move rearward in the vehicle.

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A motor control device includes: a manual steering command value calculation unit that calculates a manual steering command value using torsion bar torque; an integrated angle command value calculation unit that calculates an integrated angle command value by adding the manual steering command value to an automatic steering command value for driving assistance; and a control unit that controls drive of an electric motor based on the integrated angle command value. The manual steering command value calculation unit is configured to, in a driving assistance mode, calculate the manual steering command value using an equation of motion of a reference model of the steering device. The manual steering command value calculation unit calculates the manual steering command value using a target virtual spring reaction force according to a lateral position for a reference vehicle position relative to a travel lane as a virtual spring reaction force in the equation of motion at least under a predetermined condition.

A motor control device includes: a manual steering command value calculation unit that calculates a manual steering command value using torsion bar torque; an integrated angle command value calculation unit that calculates an integrated angle command value by adding the manual steering command value to an automatic steering command value for driving assistance; and a control unit that controls drive of an electric motor based on the integrated angle command value. The manual steering command value calculation unit is configured to, in a driving assistance mode, calculate the manual steering command value using an equation of motion of a reference model of the steering device. The manual steering command value calculation unit calculates the manual steering command value using, as a virtual damper reaction force in the equation of motion, a virtual damper reaction force obtained by adding a virtual damper reaction force according to a derivative of the automatic steering command value to a virtual damper reaction force according to a derivative of the manual steering command value.

A command value calculation unit (62, 72) includes: a first processing unit (83) configured to calculate a target value (T<h>*) of steering torque (T<h>); a second processing unit (84) configured to calculate a first torque command value (T<1>*) through feedback control of the steering torque; a third processing unit (85) configured to calculate a target value (θ<p>*) of a rotation angle (θ<p>) of a shaft (23) configured to rotate in conjunction with a steering operation of steered wheels (12); a fourth processing unit (86) configured to calculate a second torque command value (T<2>*) through feedback control of an actual angle; and a fifth processing unit (87) configured to calculate a command value (TA*, TB*) based on the first torque command value and the second torque command value. At least one of the second processing unit and the fourth processing unit includes a characteristic changing unit (93B, 94C) configured to perform a process of changing responsiveness of the feedback control in accordance with the drive mode of a motor.

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A steering control device (40) is configured to execute a feedback process, an operation process, and a reduction process. The feedback process is a process of calculating a feedback manipulated variable. The feedback manipulated variable is a manipulated variable of feedback control in which a detected value of steering torque is a controlled variable. The steering torque is torque input by a driver to a steering system. The operation process is a process of controlling torque of a motor of the steering system using the feedback manipulated variable as an input. The reduction process is a process of reducing an absolute value of the feedback manipulated variable when the magnitude of target steering torque is greater than or equal to a predetermined value. The target steering torque is a target value of the steering torque.

A motor control device includes: a manual steering command value calculation unit that calculates a manual steering command value using torsion bar torque; an integrated angle command value calculation unit that calculates an integrated angle command value by adding the manual steering command value to an automatic steering command value for driving assistance; and a control unit that controls drive of an electric motor based on the integrated angle command value. The manual steering command value calculation unit is configured to, in a driving assistance mode, calculate the manual steering command value using an equation of motion of a reference model of the steering device. The manual steering command value calculation unit calculates the manual steering command value using, as a virtual spring reaction force in the equation of motion, a virtual spring reaction force obtained by adding a virtual spring reaction force according to the automatic steering command value to a virtual spring reaction force according to the manual steering command value.

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A suspension system (100) includes a turning member (110), a suspension member (130), and a shock absorbing mechanism (160). The turning member (110) is connected to an axle (203) of a steered wheel (200) of a vehicle, extends upward from the axle (203), and turns the steered wheel (200) by receiving an external force for turning. The suspension member (130) is disposed above the steered wheel (200), and includes one end swingably connected to the turning member (110) and the other end swingably connected to a vehicle body of the vehicle. The shock absorbing mechanism (160) includes one end connected to at least one of the turning member (110) and the suspension member (130) and the other end connected to the vehicle body.

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An articulated vehicle (10) includes a tractor (20) and a trailer (30). A control device for the articulated vehicle is configured to execute a setting process and a non-transmission steering process. The setting process is a process of setting a target steered angle of the non-transmission steered wheel, using a value of a trailer sway variable as an input. The trailer sway variable includes at least one of the following two variables: a variable indicating behavior of the yaw angle of the articulated vehicle, and a front-wheel steered angle variable. The front-wheel steered angle variable is a variable indicating a steered angle of a steered front wheel of the tractor. The non-transmission steering process is a process of steering the non-transmission steered wheel in accordance with the target steered angle set by the setting process.

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