Motor-driven steering controller and automobile anti-skid controller
First Claim
1. An electric power steering assist controlling apparatus for a vehicle, comprising:
- a steering torque controlling unit controlling an electric power assisted steering motor to control a steering torque on a steering wheel depending on an operator'"'"'s steering operation to reduce an operator'"'"'s power required to operate the steering wheel;
a braking force estimating unit for estimating braking forces to be imposed on wheels of the vehicle;
a right and left braking force difference estimating unit for estimating difference between the braking forces to be imposed on the right and left wheels each estimated by the braking forces estimating unit;
wherein when an anti-skid control is executed during braking on a road where the frictional coefficient differs from right to left, the difference in braking force between right and left wheels is generated by the anti-skid control thereby generating a yaw moment that causes the vehicle to be deflected toward a higher road frictional coefficient side;
an assist steering torque providing unit for providing a counter-steering assist steering torque which assists an operator'"'"'s counter steering operation on the steering wheel for the steering torque controlling unit in a direction to reduce the yaw moment of the vehicle generated due to the difference in braking force between right and left wheels on the basis of the difference in braking force between right and left wheels estimated by the right and left braking force difference estimating unit;
a vehicle stability controlling unit for controlling a stability of the vehicle depending on a traveling state of the vehicle; and
wherein the assist steering torgue providing unit is arranged so as to inhibit provision of the assist steering torgue when the stability of the vehicle is controlled by the vehicle stability controlling unit.
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Accused Products
Abstract
A motor-driven steering controller for controlling a steering wheel of a vehicle. The controller includes a steering torque controlling unit, a braking force estimating unit, a right and left braking force difference estimating unit and an assist steering torque providing unit. The steering torque controlling unit controls a steering torque on the steering wheel depending on a steering operation. The braking force estimating unit estimates braking forces to be imposed on wheels of the vehicle. The right and left braking force difference estimating unit estimates difference between the braking forces to be imposed on the right and left wheels each estimated by the braking forces estimating unit. The assist steering torque providing unit provides an assist steering torque for the steering torque controlling unit on the basis of the difference in braking force between right and left wheels estimated by the right and left braking force difference estimating unit.
32 Citations
29 Claims
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1. An electric power steering assist controlling apparatus for a vehicle, comprising:
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a steering torque controlling unit controlling an electric power assisted steering motor to control a steering torque on a steering wheel depending on an operator'"'"'s steering operation to reduce an operator'"'"'s power required to operate the steering wheel; a braking force estimating unit for estimating braking forces to be imposed on wheels of the vehicle; a right and left braking force difference estimating unit for estimating difference between the braking forces to be imposed on the right and left wheels each estimated by the braking forces estimating unit; wherein when an anti-skid control is executed during braking on a road where the frictional coefficient differs from right to left, the difference in braking force between right and left wheels is generated by the anti-skid control thereby generating a yaw moment that causes the vehicle to be deflected toward a higher road frictional coefficient side; an assist steering torque providing unit for providing a counter-steering assist steering torque which assists an operator'"'"'s counter steering operation on the steering wheel for the steering torque controlling unit in a direction to reduce the yaw moment of the vehicle generated due to the difference in braking force between right and left wheels on the basis of the difference in braking force between right and left wheels estimated by the right and left braking force difference estimating unit; a vehicle stability controlling unit for controlling a stability of the vehicle depending on a traveling state of the vehicle; and wherein the assist steering torgue providing unit is arranged so as to inhibit provision of the assist steering torgue when the stability of the vehicle is controlled by the vehicle stability controlling unit. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20)
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21. An electric power steering assist controlling apparatus for a vehicle, comprising:
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a steering torque controlling unit controlling an electric power assisted steering motor to control a steering torque on a steering wheel depending on an operator'"'"'s steering operation to reduce an operator'"'"'s power required to operate the steering wheel; a braking force estimating unit for estimating braking forces to be imposed on wheels of the vehicle; a right and left braking force difference estimating unit for estimating difference between the braking forces to be imposed on the right and left wheels each estimated by the braking forces estimating unit; wherein when an anti-skid control is executed during braking on a road where the frictional coefficient differs from right to left, the difference in braking force between right and left wheels is aenerated by the anti-skid control thereby generating a yaw moment that causes the vehicle to be deflected toward a higher road frictional coefficient side; an assist steering torgue providing unit for providing a counter-steering assist steering torgue which assists an operator'"'"'s counter steering operation on the steering wheel for the steering torgue controlling unit in a direction to reduce the yaw moment of the vehicle generated due to the difference in braking force between right and left wheels on the basis of the difference in braking force between right and left wheels estimated by the right and left braking force difference estimating unit; and wherein the assist steering torque providing unit prohibits providing the counter-steering assist steering torque when turning condition of the vehicle is higher than a predetermined value. - View Dependent Claims (22)
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23. An electric power steering assist controlling apparatus for a vehicle, comprising:
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a steering torgue controlling unit controlling an electric power assisted steering motor to control a steering torgue on a steering wheel depending on an operator'"'"'s steering operation to reduce an operator'"'"'s power reguired to operate the steering wheel; a braking force estimating unit for estimating braking forces to be imposed on wheels of the vehicle; a right and left braking force difference estimating unit for estimating difference between the braking forces to be imposed on the right and left wheels each estimated by the braking forces estimating unit; wherein when an anti-skid control is executed during braking on a road where the frictional coefficient differs from right to left, the difference in braking force between right and left wheels is generated by the anti-skid control thereby generating a yaw moment that causes the vehicle to be deflected toward a higher road frictional coefficient side; an assist steering torque providing unit for providing a counter-steering assist steering torgue which assists an operator'"'"'s counter steering operation on the steering wheel for the steering torque controlling unit in a direction to reduce the yaw moment of the vehicle generated due to the difference in braking force between right and left wheels on the basis of the difference in braking force between right and left wheels estimated by the right and left braking force difference estimating unit; and wherein the assist steering torque providing unit starts providing the counter-steering assist steering torque when it is determined that the difference in braking force between right and left wheels is greater than a predetermined value and a vehicle velocity is higher than a predetermined value. - View Dependent Claims (24)
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25. An electric power steering assist controlling apparatus for a vehicle comprising:
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a steering torque controlling unit controlling an electric power assisted steering motor to control a steering torque on a steering wheel depending on an operator'"'"'s steering operation to reduce an operator'"'"'s power required to operate the steering wheel; an assist steering torque providing unit for providing a counter-steering assist steering torque which assists an operator'"'"'s counter-steering operation on the steering wheel for the steering torque controlling unit in the counter-steering direction when an anti-skid control is executed during braking on a road where the friction coefficient differs from right to left and a difference in braking force between right and left wheels is generated by the anti-skid control; a vehicle stability controlling unit for controlling a stability of the vehicle depending on a traveling state of the vehicle; and wherein the assist steering torgue providing unit is arranged so as to inhibit provision of the assist steering torgue when the stability of the vehicle is controlled by the vehicle stability controlling unit. - View Dependent Claims (26)
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27. An electric power steering assist controlling apparatus for a vehicle comprising:
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a steering torque controlling unit controlling an electric power assisted steering motor to control a steering torque on a steering wheel depending on an operator'"'"'s steering operation to reduce an operator'"'"'s power required to operate the steering wheel; an assist steering torque providing unit for providing a counter-steering assist steering torque which assists an operator'"'"'s counter-steering operation on the steering wheel for the steering torque controlling unit in the counter-steering direction when an anti-skid control is executed during braking on a road where the friction coefficient differs from right to left and a difference in braking force between right and left wheels is generated by the anti-skid control; and wherein the assist steering torque providing unit prohibits providing the counter-steering assist steering torque when turning condition of the vehicle is higher than a predetermined value. - View Dependent Claims (28)
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29. An electric power steering assist controlling apparatus for a vehicle comprising:
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a steering torque controlling unit controlling an electric power assisted steering motor to control a steering torque on a steering wheel depending on an operator'"'"'s steering operation to reduce an operator'"'"'s power required to operate the steering wheel; an assist steering torque providing unit for providing a counter-steering assist steering torque which assists an operator'"'"'s counter-steering operation on the steering wheel for the steering torque controlling unit in the counter-steering direction when an anti-skid control is executed during braking on a road where the friction coefficient differs from right to left and a difference in braking force between right and left wheels is generated by the anti-skid control; and wherein the assist steering torque providing unit starts providing the counter-steering assist steering torque when it is determined that the difference in braking force between right and left wheels is greater than a predetermined value and a vehicle velocity is higher than a predetermined value.
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Specification