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公开(公告)号：US20230286578A1
公开(公告)日：2023-09-14
申请号：US18091685
申请日：2022-12-30
发明人： Yuji WATARI , Ryo MATSUMOTO , Ryo IRIE
CPC分类号： B62D6/10 , B62D5/0424
摘要： A vehicle includes a steering device, a torque sensor, and an electronic control unit. The steering device includes a rack shaft, a steering shaft, and a turning actuator including an electric motor connected to the rack shaft or the steering shaft via a motion conversion mechanism. The torque sensor is configured to detect a steering torque by a driver, the torque sensor being attached to the steering shaft. The electronic control unit is configured to switch from turning of the wheels by an automatic steering control to turning of the wheels based on at least a steering operation by the driver in a case where a torque detected by the torque sensor exceeds a torque threshold value during execution of the automatic steering control of the wheels. The torque threshold value is changed in accordance with a temperature of the motion conversion mechanism.
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公开(公告)号：US20230159101A1
公开(公告)日：2023-05-25
申请号：US18098822
申请日：2023-01-19
发明人： Ikuma SUZUKI , Satoshi KATOH , Ryo IRIE
IPC分类号： B62D15/02 , B60W60/00 , B60W30/182 , B60W50/12
CPC分类号： B62D15/021 , B60W60/001 , B60W30/182 , B60W50/12 , B60W2510/0638 , B60W2510/205
摘要： A vehicle includes an ADK attachable to and removable from a vehicle main body, the ADK issuing an instruction for autonomous driving, a VP including a plurality of functional units that perform a plurality of prescribed functions of the vehicle main body, and a VCIB that issues a control instruction to the functional units in accordance with an instruction from the ADK. One of the plurality of functional units is a steering system that steers the vehicle main body. The steering system specifies a limit value of a steering rate in accordance with a prescribed reference and transmits the specified limit value to the ADK through the VCIB. The ADK calculates a target steering angle to satisfy the limit value received from the steering system and transmits an instruction for the calculated steering angle to the steering system through the VCIB.
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公开(公告)号：US20220371653A1
公开(公告)日：2022-11-24
申请号：US17735705
申请日：2022-05-03
发明人： Ryo IRIE
IPC分类号： B62D5/04
摘要： A manager mounted on a vehicle includes one or more processors configured to receive a plurality of kinematic plans from a plurality of advanced driver assistance system applications, arbitrate the kinematic plans, calculate motion request based on an arbitration result of the kinematic plans regardless of presence or absence of failure of a plurality of actuator systems including steering systems, and distribute the motion request to at least one of the actuator systems according to content of the failure of the actuator systems.
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公开(公告)号：US20200295699A1
公开(公告)日：2020-09-17
申请号：US16806238
申请日：2020-03-02
发明人： Takahiro TOKO , Atsuo SAKAI , Ryo IRIE
IPC分类号： H02P29/028 , H02P25/22 , B62D5/04 , B62D6/00
摘要： A controller for a motor includes a first processing circuit and a second processing circuit configured to communicate with each other. The first processing circuit is configured to execute a first operation amount calculation process, an operation process, and an output process. The first operation amount calculation process is a process of calculating a first operation amount. The output process is a process of outputting the first operation amount to the second processing circuit. The second processing circuit is configured to execute a second operation amount calculation process, a first use operation process, a second use operation process, and an elimination process.
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公开(公告)号：US20190331544A1
公开(公告)日：2019-10-31
申请号：US16380453
申请日：2019-04-10
发明人： Takahiro KOJO , Yoji KUNIHIRO , Ryo IRIE , Hisaya AKATSUKA
摘要： A turning mechanism of a vehicle turns a wheel and is coupled to a steering wheel through a steering shaft. A torque sensor detects a torque applied to a first position of the steering shaft, as a sensor-detected torque. An upper friction torque is an absolute value of the sensor-detected torque that is caused by a friction force acting on the steering shaft between the first position and the steering wheel when the steering shaft is rotated. A vehicle control system repeatedly estimates the upper friction torque and variably sets a determination threshold to the estimated upper friction torque or more. The vehicle control system determines whether a driver state is a hands-on state or a hands-off state based on a comparison between the absolute value of the sensor-detected torque and the determination threshold.
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公开(公告)号：US20230339501A1
公开(公告)日：2023-10-26
申请号：US18343202
申请日：2023-06-28
发明人： Ikuma SUZUKI , Satoshi KATOH , Ryo IRIE
CPC分类号： B60W60/001 , B60W10/20 , B60W50/06 , B60W2510/20
摘要： A vehicle (10) includes a VP (120) that carries out vehicle control in accordance with a command from an autonomous driving system (202) and a vehicle control interface (110) that interfaces between the autonomous driving system (202) and the VP (120). A tire turning angle command that requests for a wheel steer angle is transmitted from the autonomous driving system (202) to the VP (120). A signal indicating an estimated wheel angle which is an estimated value of the wheel steer angle is transmitted from the VP (120) to the autonomous driving system (202). The VP (120) steers the vehicle in accordance with the tire turning angle command set based on a wheel estimation angle while the vehicle (10) is in a straight-ahead travel state.
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公开(公告)号：US20220073069A1
公开(公告)日：2022-03-10
申请号：US17527826
申请日：2021-11-16
发明人： Atsushi SONE , Yoji KUNIHIRO , Takahiro YOKOTA , Ryo IRIE , Yoshinori WATANABE , Masateru AMANO
摘要： An autonomous driving system mounted on a vehicle determines a target path based on necessary information and performs vehicle travel control such that the vehicle follows the target path. A first coordinate system is a vehicle coordinate system at a first timing when the necessary information is acquired. A second coordinate system is a vehicle coordinate system at a second timing later than the first timing. The autonomous driving system calculates, based on the necessary information acquired at the first timing, a first target path defined in the first coordinate system. Then, the autonomous driving system corrects the first target path to a second target path defined in the second coordinate system by performing coordinate transformation from the first coordinate system to the second coordinate system. The autonomous driving system uses the second target path as the target path to perform the vehicle travel control.
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公开(公告)号：US20210245778A1
公开(公告)日：2021-08-12
申请号：US17154058
申请日：2021-01-21
发明人： Ikuma SUZUKI , Satoshi KATOH , Ryo IRIE
摘要： A vehicle (10) includes a VP (120) that carries out vehicle control in accordance with a command from an autonomous driving system (202) and a vehicle control interface (110) that interfaces between the autonomous driving system (202) and the VP (120). A tire turning angle command that requests for a wheel steer angle is transmitted from the autonomous driving system (202) to the VP (120). A signal indicating an estimated wheel angle which is an estimated value of the wheel steer angle is transmitted from the VP (120) to the autonomous driving system (202). The VP (120) steers the vehicle in accordance with the tire turning angle command set based on a wheel estimation angle while the vehicle (10) is in a straight-ahead travel state.
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公开(公告)号：US20180201307A1
公开(公告)日：2018-07-19
申请号：US15810702
申请日：2017-11-13
发明人： Yoshio KUDO , Yoji KUNIHIRO , Ryo IRIE , Satoru YABE
CPC分类号： B62D5/0463 , B62D1/28 , B62D1/286 , B62D5/04 , B62D6/00 , B62D6/10 , B62D15/02 , B62D15/025
摘要： When a steering intervention of the driver is performed during automated steering control, a driver assistance system for a vehicle determines a P control amount based on a non-linear characteristics and calculates an I control amount using a coefficient according to a characteristics (solid line). In an angle difference range R1, the P control amount based on the non-linear characteristics is determined such that the amount of increase of absolute value of the P control amount with respect to the amount of increase of absolute value of the angle difference becomes smaller as compared to a linear characteristics. The coefficient with the characteristics (solid line) indicates 1 in the angle difference range R1, and approaches zero when the absolute value of the angle difference is greater in an angle difference range R2. To calculate the I control amount, the coefficient is multiplied by the current value of the angle difference.
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公开(公告)号：US20230122841A1
公开(公告)日：2023-04-20
申请号：US18085081
申请日：2022-12-20
发明人： Atsushi SONE , Yoji KUNIHIRO , Takahiro YOKOTA , Ryo IRIE , Yoshinori WATANABE , Masateru AMANO
摘要： An autonomous driving system mounted on a vehicle determines a target path based on necessary information and performs vehicle travel control such that the vehicle follows the target path. A first coordinate system is a vehicle coordinate system at a first timing when the necessary information is acquired. A second coordinate system is a vehicle coordinate system at a second timing later than the first timing. The autonomous driving system calculates, based on the necessary information acquired at the first timing, a first target path defined in the first coordinate system. Then, the autonomous driving system corrects the first target path to a second target path defined in the second coordinate system by performing coordinate transformation from the first coordinate system to the second coordinate system. The autonomous driving system uses the second target path as the target path to perform the vehicle travel control.
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