• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    method for determining the absolute angular position of a steering wheel. the invention relates to a method for determining the absolute angular position of a steering wheel (3) of an electrically assisted steering column (1) of a motor vehicle, comprising a means for measuring a dynamic parameter while the vehicle is in operation and comprising, among others, the steps of periodically determining a relative angular position of multiple turns, determining at least one dynamic parameter relative to the operating conditions of the vehicle using the means to measure said parameter, determining an absolute angle of the steering wheel calculated according to at minus one dynamic parameter, and weight the calculated absolute steering wheel angle value, according to a test of the validity of the calculated absolute steering wheel angle value and the origin of that value, in other words, the measurement medium used to determine the referred at least one dynamic parameter.
    公开号:BR112012012901B1
    申请号:R112012012901-5
    申请日:2010-11-29
    公开日:2020-09-01
    发明作者:André Michelis；Julien Barthomeuf；Pierre Pilaz；Stéphane Bourbon
    申请人:Jtekt Europe；
    IPC主号:
    专利说明:

    The present invention relates to a method for determining the absolute position of the steering wheel for motor vehicles equipped with an electrically assisted steering column and comprising at least one means for measuring a dynamic parameter when the vehicle is in operation.
    Information on the absolute angular position of the steering wheel is increasingly necessary when driving a vehicle, for: - the automatic return function to return the steering wheel to the intermediate point, - algorithms to adjust the assistance function, - the electronic stability program (ESP), - direction indicators, - additional direction indicator lights or arrow lights, - intelligent parking assist devices (IPA, PLA).
    These various applications cause several underlying problems: - the steering wheel's angle information must be available once the vehicle is started, - this information must be absolute and multiple turns, - the accuracy of this information must be high, - the accuracy of this information must be checked continuously, - the handwheel must be able to be turned at a significant angle even when the contact is broken.
    To solve these various problems, it is known to use a specific absolute angular sensor located between the steering wheel and the pinion of the steering column. This solution causes a significant excess cost in the price of the steering system.
    FR2876972 proposes a solution that does not require a specific absolute angular position sensor, based on: - angular position of the electrically assisted steering column assistance motor rotor, necessary for its control, - reduction ratio between the motor and the steering column, making it possible to define a relative position of the steering wheel, - definition of a reference segment in the positioning of the assistance engine obtained by comparing a statistical estimate of the similarity of the speed of the rear wheels in a straight line with a mechanical estimate obtained by calculating the angle of the vehicle's wheel locking device, - definition of a margin of error in the definition of the reference segment, - definition of a displacement value and deduction from a value of the absolute angle of the steering wheel by adjusting the zero of the relative position of the handwheel in the reference position.
    However, this method requires that the vehicle's peculiar driving conditions be used, in particular an equal measurement of the speed of the rear wheels that can only be taken when the vehicle is driven in a straight line. The determination of the absolute position of the steering wheel using this method, therefore, is not possible if the vehicle is already engaged in a curve during the start.
    DE 10 2007 021 625 A1 also describes a solution for initializing the angle of the driver's wheel locking device in a four-wheel motor vehicle.
    On the one hand, this method dispenses, in a manner known in particular from FR2876972, a specific position angle sensor for the steering wheel using the position angle of the rotor of the electric motor of assisted steering and, on the other hand, it uses measurements dynamic vehicle parameters, such as yaw rate and speed of movement of the vehicle, to determine a gap between a relative angle of the driver's wheel locking device and a so-called actual absolute angle of the driver's wheel locking device.
    Such calculation of the position angle of the rotor of the electric motor is based exclusively on a statistical estimate of the number of occurrences made in a sector of the assistance motor.
    However, this method is implemented only when leaving the factory or after the vehicle's battery has been disconnected, and not each time the vehicle is started.
    Such a method, therefore, does not take into account the potential risks of error in calculating the absolute angle of the driver's wheel locking device that may occur while using the vehicle, and puts all measurements of the vehicle's dynamic parameters on the same level. reliability regardless of their origins.
    The objective of this invention is to solve all or some of the aforementioned disadvantages, in particular by providing a method in which the initialization is not restricted to the particular driving conditions of the vehicle and whose implementation considers the risks of errors related to the measurements of the dynamic parameters.
    For this purpose, the present invention relates to a method for determining the absolute angular position of a steering wheel on an electrically assisted steering column of a motor vehicle, comprising at least one means for measuring a dynamic parameter while the vehicle is running, the assisted steering system comprising: - an electric assistance motor driven by an electronic computer and comprising a rotor performing a number of turns (Ngir0S_eiet) during the rotation of the steering wheel, - a gear reducer at the output of the reduction ratio electric motor (F), - an angular position sensor of the motor rotor, of the "resolving" type and measuring an absolute single turning position (θmθno-efef) depending on a number of pole pairs (n) distributed between the angular sensor and the motor rotor, and - a torque sensor making it possible to determine the torque exerted on the steering wheel by the driver, the method being characterized by the fact that it comprises the following steps: - initialize, at 0, the number of turns (Ngiros_eiet) of the rotor of the electric motor when the vehicle is started, - periodically determine a relative angular position of multiple turns of the steering wheel, in particular using the formula:
    - determine at least one dynamic parameter relating to the vehicle's operating conditions using at least one means to measure that parameter, - determine internal data from the electrically assisted steering column, such as engine speed and torque of the vehicle locking device steering, which is equal to the sum of the steering torque of the engine and the torque exerted by the driver, - determining an absolute steering wheel angle calculated according to at least one dynamic parameter in the dynamic operating conditions of the vehicle, - checking the validity of the value calculated of the absolute angle of the steering wheel as a function of the dynamic operating conditions of the vehicle in which it was determined, as well as internal data of the electrically assisted steering column, - weight the calculated value of the absolute angle of the steering wheel, according to a test of the validity of the calculated value of the absolute angle of the steering wheel and the origin of that value, that is, the measurement medium used for determine said at least one dynamic parameter, - determine a recalibration authorization value for the absolute position of the steering wheel, and - recalibrate the position of the steering wheel in the recalibration authorization value.
    This method is satisfactory due to the fact that it is started every time the vehicle is started, and it is not necessary to place the vehicle under particular dynamic operating conditions, particularly in terms of stability, this determination is no longer based on a statistical estimate of the number of occurrences in an assistance engine sector, but in weighting the value of that angle as a function of the source of the values calculated from the dynamic operating conditions. The analysis of the data relating to the dynamic operating conditions of the vehicle and the torque of the wheel locking device (assistance torque + driver torque) makes it possible to determine an absolute angular position of multiple turns of the steering wheel continuously, from when the vehicle is switched on. Furthermore, the accuracy of the recalibration is even better as the 'resolver1' provides a reliable and accurate position of the relative position of the steering wheel, which is the case, since the motor shaft and the steering column are mechanically connected by the gear reducer. electrically assisted steering column whose reduction ratio can be seen as a multiplier of steering wheel accuracy.
    According to the same operating mode, the steering wheel recalibration step occurs if the vehicle's predetermined dynamic conditions are met.
    This arrangement makes it possible to obtain a reliable value of the absolute angular position of the steering wheel while certain dynamic operating conditions prevent satisfactory accuracy of such an absolute angular position.
    In the case of the previous operating mode, the predetermined dynamic conditions concern a certain speed limit of the vehicle.
    Vehicle speed directly influences certain dynamic operating parameters, such as wheel speed and yaw rate at one turn, which are given by two means of measuring vehicle dynamic data, which also contribute redundancy to the information that can be taken into account when weighting the calculated value of the absolute angle of the steering wheel.
    In the case of the previous operating mode, recalibration occurs if predetermined dynamic conditions of the vehicle are respected for a predetermined period of time.
    This arrangement results in improving the precision and validity of the calculated value of the absolute angle of the steering wheel.
    According to an operating mode, the method includes a correction step in determining at least one dynamic parameter of the vehicle in the case of a wheel with a different diameter than the others or an empty tire.
    This provision provides for the case in which the values returned by the measurement medium are distorted due to an empty tire or the operation with a spare tire having a different diameter than that of the other wheels and provides for an adjustment, if necessary, through correction coefficients of wheel speed.
    According to an operating mode, the means for measuring a dynamic parameter of the vehicle includes an anti-lock brake system (ABS) that makes it possible to determine the speed of the wheels using sensors positioned on each of the wheels.
    This arrangement makes it possible to take advantage of pre-existing equipment in the vehicle to determine the speed of the wheels and thus calculate the absolute angle of the steering wheel, while dispensing with a specific sensor to measure these wheel speeds.
    In the case of the previous operating mode, the sensors positioned on each of the wheels send signals to an ABS computer that processes these signals in order to deduce the speed of each of the wheels from there, and which then periodically makes them available vehicle CAN (Controller Area Network) network.
    This arrangement allows the vehicle's computer set to have access to vehicle wheel speed information.
    According to an operating mode, the means for measuring a dynamic parameter of the vehicle includes an electronic stability program (ESP) that makes it possible to determine the yaw rate and / or the lateral acceleration of the vehicle.
    This arrangement makes it possible to calculate an absolute steering wheel angle from dynamic yaw rate and / or lateral acceleration parameters of the vehicle.
    According to the same mode of operation, an ESP computer periodically provides, in a vehicle's CAN (Controller Area Network) network, the vehicle's yaw rate and / or lateral acceleration values.
    This arrangement allows all computers in the vehicle to have access to information about the yaw rate and lateral acceleration of the vehicle.
    According to an operating mode, the electrically assisted steering column electronic computer receives information about the wheel speed and / or the yaw rate and / or the lateral acceleration of the vehicle in a vehicle CAN network.
    This arrangement allows the electronic computer on board the electrically assisted steering column to retrieve data on the dynamic behavior of the vehicle, for example, provided by the ABS computer and / or the ESP computer.
    In any case, the invention will be better understood using the description below, with reference to the attached diagrammatic figure, shown, as examples of some, a modality of the method, according to the invention.
    Figure 1 is a diagrammatic perspective view of an electrically assisted steering column of the state of the art.
    Figure 2 is a diagrammatic perspective view illustrating the implementation of the method, according to the invention, in a vehicle.
    Figure 1 takes up the main elements that form an electrically assisted steering column 1 of a motor vehicle.
    Such steering column 1 includes, on the one hand, a mechanical portion generally designed by reference 2, including a steering wheel 3 connected to a steering column 4, of which a remote end from steering wheel 3 supports a steering pinion engaged to a rack (not visible) slidably mounted on a steering box 6. The two opposite ends of the rack are connected, respectively, through the left and right connecting rods 8, respectively equipped on the outer end of the same with a spherical steering joint left T and right 8 ', to the axle supports (not shown) of the right and left steering wheels of the motor vehicle of interest.
    The electrically assisted steering column 1 includes, to assist the manual effort exerted by the vehicle driver on the steering wheel 3, an electric assistance motor 9 with two directions of rotation, whose output shaft is coupled, through a gear reducer 10 in with a threaded and tangent wheel, to the steering column 4, in order to transmit a motor torque (possibly also a resistance torque) to the steering column 4.
    The electric assistance motor 9 is driven by an on-board electronic computer 11 connected to a vehicle's CAN 17 (Controller Area Network) network, allowing it to receive and process various signals from various sensors that control various parameters of the vehicle's behavior.
    In an embodiment according to the state of the art, the electronic computer 11 receives an electrical signal from a specific sensor 12 that informs it about the angle of the relative, absolute or absolute wheel locking device of the multiple turns of the steering wheel 3, typical of the actual instantaneous angle of the motor vehicle wheel locking device of interest.
    This computer 11 also receives a signal from a torque sensor 13 located in the steering column 4 and, thus, measuring the torque exerted by the driver on the steering wheel 3.
    From this different information, computer 11 drives the electric assistance motor 9, imposing, every time, internal data from the electrically assisted steering column 1, such as a torque or an assistance force from the motor 9, which can expand or compensate for the force applied by the driver of the steering wheel 3, according to predefined “assistance laws” programmed in a non-volatile memory of the computer 11.
    In an electrically assisted steering column used with the method according to the invention, the specific sensor 12 is eliminated and the information from the angular sensor 14 of the electrically assisted steering column 1 is used of the specific “resolver” type to detect the angular position absolute θ of the electric assistance motor 9 between two successive poles between n poles of the stator of said assistance motor 9, with

    By counting the number of rotations of the rotor of the motor 9, by detecting the passage by 0o in each sample, it is possible to calculate a relative position of multiple rotations of the rotor of the motor 9 using the formula: θmulti elet = θmθno elet X Ngjros eiet with the variable Ngiros eiet which is increased at each pass from 359 ° to 0o, or decreased at each pass from 0o to 359 °.
    The relative position of multiple rotors of the motor rotor 9 is obtained using the following formulas:

    The steering column 4 is rotated by the motor 9, through the gear reducer 10, and the position of the flywheel 3 in relation to the motor 9 is given by the following formula:

    The relative position of multiple turns of the flywheel 3 as a function of the absolute single-turn position of the engine 9 is finally determined using the following formula:

    When the vehicle is started, the number of turns Ngiros.eiet is initialized to 0. The relative position uses 0o as its initial value, and can never be greater than the maximum travel distance from stop to stop.
    The angular position of the handwheel 3 determined from the angular position of the assistance motor 9 makes it possible to obtain a relative position with a high level of precision and resolution.
    This process can be applied independently of the electrical assistance system on a column, pinion or rack. While the flywheel is mechanically connected to the system, it is always possible to determine its position, taking intermediate mechanical elements (reduction gears, torsion bars) into account.
    This process can also be applied to steering systems where the function connecting the position of the steering wheel and the position of the pinion is not linear.
    In fact, the calculated position will reflect the pinion position, even if it is this position that determines the wheel locking device of the front wheels, and the direction of the vehicle. It is, therefore, the direction of the pinion that interests the equipment.
    According to the invention, the implementation of the method for determining the absolute angular position of the steering wheel of an electrically assisted steering column of a motor vehicle uses at least one measurement medium that provides the value of a dynamic parameter of the vehicle during operation the same.
    This means of measurement includes computer 15 of the anti-lock brake system (ABS) which makes it possible to determine the speed of wheels 5 using sensors positioned on each of the wheels 5 and / or computer 16 of the electronic stability program (ESP) which makes it possible to determine the rate of yaw and / or lateral acceleration of the vehicle.
    In determining an absolute position of the steering wheel 3 by analyzing the speeds of the wheels 5 provided by the ABS 15 computer, the algorithm used by the computer 11 generally uses speed deviations between the left and right wheels 5.
    This algorithm is specified here as an example using the speed of the rear wheels, but it would also be possible to use the speed of the front wheels or all four wheels 5.
    The average speed of the rear wheels is obtained using the following formula:

    The speed deviation E of the rear wheels is described:
    Rear speed = Left rear wheel ~ ^ Right rear wheel
    The instantaneous steering signal is given by the rear wheel speed deviation signal and, conventionally, this signal is positive when the steering wheel is turned to the right and this signal is negative when the steering wheel is turned to the left.
    Knowing the constant value of the vehicle's rear path, the instantaneous radius R of the vehicle's path is calculated using the following formula:

    The radius R being determined and knowing the base L of the vehicle wheel, the Ackerman angle corresponding to the average angle of the steering wheel locking device is calculated using the following formula:

    The Yiaterai lateral acceleration of the vehicle, estimated from the instantaneous radius and the average speed of the vehicle, makes it possible to calculate the drift angle α of the tires:

    Adhesive = K (R) XYLateral
    The relationship between the steering gradient K and the radius R of the wheel locking device is peculiar to each type of vehicle. This relationship is completed in the form of an abacus stored in non-volatile memory on the computer 11.
    The drift angle is corrected by a corrective G gain depending on the characteristic lateral acceleration of the vehicle:
    üderiva = corrective G X (theoretical Xderiva_
    The average angle of the steering wheel locking device is equal to the sum of the Ackerman angle and the average drift angle of the tires: & steering wheels = OfAckerman + rear
    There is a relationship between the absolute angular position of the steering wheel and the angle of the steering wheel locking device, characteristic of each type of vehicle. This relationship is completed in the form of an abacus stored in the non-volatile memory on the computer. ^ absolute of steering wheels = wheels)
    This same relationship can be obtained from the information provided to computer 11 by the ESP 16 computer from the yaw rate or lateral acceleration of the vehicle.
    For this purpose, the instantaneous radius of a vehicle traveling at speed V can be calculated from the yaw rate PSÍ of the vehicle using the formula:
    and / or from the lateral lateral acceleration of the vehicle using the formula:
    Vlateral
    These two computers 15, 16 periodically provide information on wheel speed 5, yaw rate and lateral acceleration in the CAN network 17 of the vehicle connected to computer 11 of the electrically assisted steering column 1.
    To determine the absolute position of the steering wheel 3 from the speed of the wheels 5, the method provides for correction of the speeds of the wheel 5 in case of operation with a spare tire having a different diameter from that of the other wheels 5 or in case of operation with a tire empty.
    This correction function checks the speed deviations of the wheels 5 over long distances and, if necessary, adjusts the speed correction coefficients of the wheels 5.
    The variables used by this function are saved in a non-volatile memory, in order to be able to calculate the total deviations for several kilometers, regardless of any vehicle stops during the calculation.
    After collecting a dynamic operating parameter, computer 11 checks the validity of the calculated value of the absolute angle of the steering wheel as a function, on the one hand, of the dynamic operating conditions of the vehicle under which the said dynamic parameter was determined and, for other, as a function of the internal data of the electrically assisted steering column 1, such as the assist torque or the engine speed.
    For this purpose, computer 11 considers each of these values as a function of predetermined rules established in dynamic operating conditions, for example, sufficient operating time, a given vehicle speed limit, but also the source of these values, depending on whether they were determined by measuring the speed of the wheels 5 made by the ABS 15 computer or by measuring the yaw rate and / or lateral acceleration made by the ESP 16 computer.
    Regarding this source of the calculated values of the absolute angle of the steering wheel, it is possible to introduce a notion of punctuation that can be interpreted as a confidence indicator about the accuracy of the theoretical calculation of the absolute angle.
    The score results from the compilation of different scoring tables containing several entries that mix the dynamic conditions of the vehicle and the internal data of the electrically assisted steering column 1.
    The recovery of all weighted values makes it possible to calculate an instantaneous displacement of the relative angle corresponding to the difference between the relative angle calculated from the measurement of the "resolver1 '14 on the rotor of the assistance motor 9 and the calculations of the absolute angle determined from parameters operating dynamics from the ABS 15 computer and / or the ESP 16 computer.
    In order to average this instantaneous displacement information, computer 11 averages the displacement using a weighted cumulative average using instantaneous punctuation.
    The calculation and storage of the deviations between the relative position and the absolute position when predetermined conditions are met, therefore, make it possible to determine precisely the absolute position of multiple turns of the steering wheel every time.
    The computer 11 of the electrically assisted steering column 1 periodically provides information on the absolute position of the steering wheel in the CAN 17 network, as well as the validity of that information.
    The invention is clearly not limited to the modality described above as an example only; on the contrary, it covers all alternative methods of the method. Thus, in particular, it is not beyond the scope of the invention for all data collected, calculated and transmitted by computer 11 of the electrically assisted steering column to be collected, calculated and transmitted through another specific computer.
    权利要求:
    Claims (10)
    [0001]
    1. Method for determining the absolute angular position of a steering wheel (3) of an electrically assisted steering column (1) of a motor vehicle, using at least one means to measure a dynamic parameter while the vehicle is in operation, the column electrically assisted steering (1) comprising: - an electric assistance motor (9) controlled by an electronic computer (11) and including a rotor performing a number of turns (Ngiros__eiet) during the rotation of the steering wheel (3), - a reducer gear (10) at the output of the electric motor (9) with a reduction ratio (T), - an angular position sensor (14) of the motor rotor, of the “resolving” type and measuring an absolute position of single rotation ( Qmono-eiet) depending on a number of pole pairs (n) distributed between the angular sensor (14) and the motor rotor (9), and - a torque sensor making it possible to determine the torque exerted on the steering wheel by the driver, the method including the following steps: - initialize the number of rotations (Ngims_eiet) of the rotor of the electric motor (9) when the vehicle is started, - periodically determine a relative angular position of multiple turns of the steering wheel (3), in particular using the formula:
    [0002]
    2. Method according to claim 1, characterized by the fact that the recalibration step for the steering wheel position (3) takes place if predetermined dynamic conditions of the vehicle are encountered.
    [0003]
    3. Method, according to claim 2, characterized by the fact that the predetermined dynamic conditions concern a certain speed limit of the vehicle.
    [0004]
    4. Method according to claim 2 or 3, characterized by the fact that recalibration occurs if the predetermined dynamic conditions of the vehicle are encountered for a predetermined period of time.
    [0005]
    5. Method according to any one of claims 1 to 4, characterized in that it includes a correction step in determining at least one dynamic parameter of the vehicle in the case of a wheel with a different diameter than the others or an empty tire .
    [0006]
    6. Method according to any one of claims 1 to 5, characterized by the fact that the means for measuring a dynamic parameter of the vehicle includes an anti-lock brake system (ABS) that makes it possible to determine the speed of the wheels (5) using sensors positioned on each of the wheels (5).
    [0007]
    7. Method, according to claim 6, characterized by the fact that the sensors positioned on each of the wheels (5) send signals to an ABS computer (15) that processes the signals in order to deduce the speed of each one of the wheels (5) thereafter, and which then periodically makes them available on a CAN network (17) of the vehicle.
    [0008]
    8. Method according to any one of claims 1 to 7, characterized by the fact that the means for measuring a dynamic parameter of the vehicle includes an electronic stability program (ESP) that makes it possible to determine the yaw rate and / or the acceleration side of the vehicle.
    [0009]
    9. Method, according to claim 8, characterized by the fact that an ESP computer (16) periodically provides, in a CAN network (17) of the vehicle, the values of the yaw rate and / or the lateral acceleration of the vehicle .
    [0010]
    10. Method according to any one of claims 1 to 9, characterized by the fact that the electronic computer (11) of the electrically assisted steering column 10 receives information about the speed of the wheels (5) and / or the rate of yaw and / or lateral acceleration of the vehicle in a CAN network (17) of the vehicle
    类似技术:
    公开号 | 公开日 | 专利标题
    BR112012012901B1|2020-09-01|METHOD FOR DETERMINING THE ABSOLUTE ANGULAR POSITION OF A STEERING WHEEL
    US9238478B2|2016-01-19|Method for determining the absolute angular position of the steering wheel of a motor vehicle
    US8082078B2|2011-12-20|Methods, systems, and computer program products for steering travel limit determination for electric power steering
    US8706347B2|2014-04-22|Diagnosis of wheel alignment using GPS
    CN108027249B|2021-07-16|Steering angle sensor with functional safety
    CN103930312A|2014-07-16|Sensor system comprising a fusion filter for common signal processing
    US7328124B2|2008-02-05|Apparatus and method for measuring and compensating steering-angle sensitive alignment measurements
    CN101939203B|2013-06-26|Device for measuring the movement of a self-guiding vehicle
    US11037380B2|2021-06-15|Method and device for ascertaining an orientation of a sensor unit
    US20150142269A1|2015-05-21|Hand Wheel Angle From Vehicle Dynamic Sensors Or Wheel Speeds
    CN102564473A|2012-07-11|Rotation angle detection device and electric power steering system using the same
    CN104541123B|2017-06-09|Method and apparatus for asking for the girth of the tire on vehicle
    US20090071227A1|2009-03-19|Method for determining the tire diameters of a motor vehicle
    CN111516755A|2020-08-11|Steering wheel corner signal calibration method and corner zero position confirmation method
    US20220041214A1|2022-02-10|Angle sensor having a two-pole magnet for a motor vehicle steering system
    US20070276562A1|2007-11-29|Determination Of The Absolute Angular Position Of A Steering Wheel By Binary Sequences Discrimination
    KR100817634B1|2008-03-27|Method for automatically locating a motor vehicle right and left wheels
    US20140046623A1|2014-02-13|Method and device for determining the inclined position of a vehicle
    KR20130050681A|2013-05-16|Method of calculating dynamic radius of tire
    US20200346688A1|2020-11-05|Steering systems use and failure monitoring
    JP4436094B2|2010-03-24|Wheel alignment measurement method
    CN111741887A|2020-10-02|Improvement in the evaluation of the absolute angular position of a steering wheel by taking into account the condition of the steering wheel when the vehicle is turned off
    US9688303B1|2017-06-27|System and method for detecting failure of a steering angle sensor
    US9846057B2|2017-12-19|Method and apparatus for computing an angle of rotation
    CN103448729A|2013-12-18|Method and apparatus for calculating yawrate and method for controlling the lane keeping assist system using the same
    同族专利:
    公开号 | 公开日
    US8712646B2|2014-04-29|
    FR2953181A1|2011-06-03|
    EP2507113A1|2012-10-10|
    US20130024072A1|2013-01-24|
    PL2507113T3|2014-01-31|
    WO2011067523A1|2011-06-09|
    FR2953181B1|2011-12-09|
    EP2507113B1|2013-08-14|
    BR112012012901A2|2017-03-01|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    JP2003175850A|2001-12-13|2003-06-24|Toyoda Mach Works Ltd|Control device for motorized power steering system|
    FR2876972B1|2004-10-25|2006-12-29|Koyo Steering Europ K S E Soc|METHOD FOR DETERMINING THE ANGULAR POSITION OF THE STEERING WHEEL OF AN ELECTRIC POWER STEERING OF A MOTOR VEHICLE|
    US7295907B2|2005-06-14|2007-11-13|Trw Automotive U.S. Llc|Recovery of calibrated center steering position after loss of battery power|
    JP4852964B2|2005-10-14|2012-01-11|日本精工株式会社|Control device for electric power steering device|
    DE102005053902B4|2005-11-11|2017-06-01|Bayerische Motoren Werke Aktiengesellschaft|Method for determining the steering angle set with the steering spindle of a two-lane motor vehicle|
    US8326570B2|2006-09-26|2012-12-04|D&R Technologies, L.L.C.|Steering wheel position sensor|
    US20110016960A1|2007-03-13|2011-01-27|Franck Debrailly|Device For Detecting Angular Position, Electric Motor, Steering Column And Reduction Gear|
    DE102007021625B4|2007-05-09|2015-10-08|Bayerische Motoren Werke Aktiengesellschaft|Method for initializing the driver steering angle on a two-lane motor vehicle|
    US8428822B2|2009-03-13|2013-04-23|Honda Motor Co., Ltd.|Method of determining a steering angle in a motor vehicle|
    US8378666B2|2009-10-19|2013-02-19|BEI Duncan Electronics|Multi-turn sensor|FR2963918A1|2010-08-20|2012-02-24|Jtekt Europe Sas|SECURING THE COUPLE OF ASSISTANCE BY AN EFFORT ESTIMATOR ON THE CREMAILLERE|
    FR2992933B1|2012-07-06|2015-05-29|Jtekt Europe Sas|METHOD FOR DETECTING THE DIRECTION OF DISPLACEMENT OF A MOTOR VEHICLE|
    FR2992937B1|2012-07-06|2016-04-29|Jtekt Europe Sas|IMPROVED METHOD OF DETERMINING THE ABSOLUTE ANGULAR POSITION OF THE STEERING WHEEL OF A MOTOR VEHICLE|
    US9676409B2|2013-03-11|2017-06-13|Steering Solutions Ip Holding Corporation|Road wheel disturbance rejection based on hand wheel acceleration|
    US9377780B1|2013-03-14|2016-06-28|Brunswick Corporation|Systems and methods for determining a heading value of a marine vessel|
    US9073569B2|2013-03-19|2015-07-07|Mitsubishi Electric Research Laboratories, Inc.|Determining steering angle of steering column of vehicle|
    PL2799310T3|2013-04-30|2018-06-29|Steering Solutions Ip Holding Corporation|Providing assist torque without hand wheel torque sensor|
    US9540044B2|2013-11-15|2017-01-10|Steering Solutions Ip Holding Corporation|Hand wheel angle from vehicle dynamic sensors or wheel speeds|
    US9540040B2|2014-06-26|2017-01-10|Steering Solutions Ip Holding Corporation|Phase plane based transitional damping for electric power steering|
    US9409595B2|2014-09-15|2016-08-09|Steering Solutions Ip Holding Corporation|Providing assist torque without hand wheel torque sensor for zero to low vehicle speeds|
    US10144445B2|2014-09-15|2018-12-04|Steering Solutions Ip Holding Corporation|Modified static tire model for providing assist without a torque sensor for zero to low vehicle speeds|
    US10464594B2|2015-09-03|2019-11-05|Steering Solutions Ip Holding Corporation|Model based driver torque estimation|
    US10336363B2|2015-09-03|2019-07-02|Steering Solutions Ip Holding Corporation|Disabling controlled velocity return based on torque gradient and desired velocity error|
    US10155534B2|2016-06-14|2018-12-18|Steering Solutions Ip Holding Corporation|Driver intent estimation without using torque sensor signal|
    CN108082275B|2016-11-23|2021-08-24|操纵技术Ip控股公司|Electric power steering system|
    FR3077263B1|2018-01-31|2021-01-08|Jtekt Europe Sas|IMPROVEMENT OF THE EVALUATION OF THE ABSOLUTE ANGULAR POSITION OF A DRIVING WHEEL BY TAKING INTO CONSIDERATION THE SITUATION WHEN THE VEHICLE IS TURNED OFF|
    法律状态:
    2019-01-08| B06F| Objections, documents and/or translations needed after an examination request according [chapter 6.6 patent gazette]|
    2019-10-08| B06U| Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette]|
    2020-05-26| B06A| Patent application procedure suspended [chapter 6.1 patent gazette]|
    2020-07-21| B09A| Decision: intention to grant [chapter 9.1 patent gazette]|
    2020-09-01| B16A| Patent or certificate of addition of invention granted [chapter 16.1 patent gazette]|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 29/11/2010, OBSERVADAS AS CONDICOES LEGAIS. |
    2021-09-21| B21F| Lapse acc. art. 78, item iv - on non-payment of the annual fees in time|Free format text: REFERENTE A 11A ANUIDADE. |
    2022-01-11| B24J| Lapse because of non-payment of annual fees (definitively: art 78 iv lpi, resolution 113/2013 art. 12)|Free format text: EM VIRTUDE DA EXTINCAO PUBLICADA NA RPI 2646 DE 21-09-2021 E CONSIDERANDO AUSENCIA DE MANIFESTACAO DENTRO DOS PRAZOS LEGAIS, INFORMO QUE CABE SER MANTIDA A EXTINCAO DA PATENTE E SEUS CERTIFICADOS, CONFORME O DISPOSTO NO ARTIGO 12, DA RESOLUCAO 113/2013. |
    优先权:
    申请号 | 申请日 | 专利标题
    FR0958476|2009-11-30|
    FR0958476A|FR2953181B1|2009-11-30|2009-11-30|DEVICE FOR DETERMINING THE ABSOLUTE ANGULAR POSITION OF THE STEERING WHEEL OF AN ELECTRIC POWER STEERING OF A MOTOR VEHICLE USING DYNAMIC WEIGHTED PARAMETERS OF THE VEHICLE.|
    PCT/FR2010/052554|WO2011067523A1|2009-11-30|2010-11-29|Device for determining the absolute angular position of the steering wheel of an electric power-assisted steering column of a motor vehicle using weighted dynamic parameters of the vehicle|
    [返回顶部]