US-12617458-B2 - Steering computing device

US12617458B2US 12617458 B2US12617458 B2US 12617458B2US-12617458-B2

Abstract

A steering computing device that calculates a value of a state variable about a steering apparatus includes a storage device and an execution device. The execution device is configured to execute a bending angle acquisition process and a tilt angle calculation process, and the bending angle acquisition process is a process of acquiring a first bending angle and a second bending angle. The tilt angle calculation process is a process of calculating a tilt angle. The first bending angle is an angle formed between an input shaft of the steering apparatus and an intermediate shaft of the steering apparatus. The second bending angle is an angle formed between an output shaft of the steering apparatus and the intermediate shaft, and the tilt angle is a variable indicative of an angle formed between an axial direction of the input shaft and a reference direction.

Inventors

Shunsuke TSUJII
Yufeng LIN
Hidenori ITAMOTO
Terutaka Tamaizumi

Assignees

JTEKT CORPORATION

Dates

Publication Date: 20260505
Application Date: 20230725
Priority Date: 20220726

Claims (7)

1 . A steering computing device that calculates a value of a state variable about a steering apparatus, the steering apparatus including a steering wheel, an input shaft, an intermediate shaft, an output shaft, a first Cardan joint, a second Cardan joint, and steered wheels, the input shaft being connected to the steering wheel, the first Cardan joint being a member connecting the input shaft and the intermediate shaft, the second Cardan joint being a member connecting the intermediate shaft and the output shaft, the steered wheels being configured to receive a steering torque input into the steering wheel, via the input shaft, the intermediate shaft, and the output shaft, the steering computing device comprising: a storage device; and an execution device, wherein: mapping data is stored in the storage device, the mapping data being data defining a mapping to output a tilt angle with a first bending angle and a second bending angle being taken as inputs; the first bending angle is an angle formed between the input shaft and the intermediate shaft; the second bending angle is an angle formed between the output shaft and the intermediate shaft; the execution device is configured to execute a bending angle acquisition process and a tilt angle calculation process; the bending angle acquisition process is a process of acquiring the first bending angle and the second bending angle; the tilt angle calculation process is a process of calculating the tilt angle by inputting the first bending angle and the second bending angle into the mapping; and the tilt angle is a variable indicative of an angle formed between an axial direction of the input shaft and a reference direction.
2 . The steering computing device according to claim 1 , wherein: the mapping data includes data indicative of a parallel vector component parallel to the reference direction; the mapping includes a position coordinate output mapping, a vector output mapping, and a tilt angle output mapping; the position coordinate output mapping is a mapping to output position coordinates of a steering wheel side end part and position coordinates of a rotation center of the first Cardan joint in accordance with the first bending angle and the second bending angle; the vector output mapping is a mapping to output an input shaft vector as a vector determined based on a position of the rotation center of the first Cardan joint and the steering wheel side end part; the tilt angle output mapping is a mapping to output the tilt angle with the input shaft vector and the parallel vector component being taken as inputs; and the steering wheel side end part is an end part on a steering wheel side out of two end parts of the input shaft.
3 . The steering computing device according to claim 2 , wherein: the position coordinate output mapping is a mapping to output the position coordinates as solutions of simultaneous equations; the simultaneous equations include a first bending angle relational expression and a second bending angle relational expression; the first bending angle relational expression is an expression indicative of a relationship of the first bending angle with an inner product between a vector determined by the rotation center of the first Cardan joint and the steering wheel side end part and a vector determined by the rotation center of the first Cardan joint and a rotation center of the second Cardan joint; and the second bending angle relational expression is an expression indicative of a relationship of the second bending angle with an inner product between the vector determined by the rotation center of the first Cardan joint and the rotation center of the second Cardan joint and a predetermined vector.
4 . The steering computing device according to claim 3 , wherein: the axial direction of the input shaft is changeable by rotating the input shaft around a predetermined part different from the first Cardan joint as a rotation center; the intermediate shaft is expandable and contractible by a change in the axial direction of the input shaft; the mapping data includes position coordinates of the predetermined part; and the simultaneous equations include an equation expressing a distance between the predetermined part and the rotation center of the first Cardan joint.
5 . The steering computing device according to claim 1 , wherein: the execution device is configured to further execute a steering angle variable acquisition process and an output shaft angle variable acquisition process; the steering angle variable acquisition process is a process of acquiring a value of a steering angle variable as a variable indicative of a rotation angle of the steering wheel; the output shaft angle variable acquisition process is a process of acquiring a value of an output shaft angle variable as a variable indicative of a rotation angle of the output shaft; and the bending angle acquisition process is a process of acquiring the first bending angle and the second bending angle by calculating the first bending angle and the second bending angle with use of the value of the steering angle variable and the value of the output shaft angle variable as inputs.
6 . The steering computing device according to claim 5 , wherein: the steering angle variable acquisition process includes a process of acquiring different values for the steering angle variable; the output shaft angle variable acquisition process includes a process of acquiring values for the output shaft angle variable, the values being synchronized with the different values for the steering angle variable, respectively; relationship definition data is stored in the storage device; the relationship definition data is data defining a relational expression; the relational expression is an expression defining a relationship between a value of the steering angle variable and a value of the output shaft angle variable, and the first bending angle and the second bending angle; and the bending angle acquisition process includes a process of calculating the first bending angle and the second bending angle by a method of least squares by inputting, into the relational expression, the different values for the steering angle variable and the values for the output shaft angle variable, the values being synchronized with the different values, respectively.
7 . The steering computing device according to claim 1 , wherein: the steering apparatus includes an actuator configured to generate power turning the steered wheels; the steering apparatus is configured to execute an operation process and a reflection process; the operation process is a process of operating the actuator in response to operation of the steering wheel; and the reflection process is a process of reflecting the tilt angle on the operation of the actuator.

Description

CROSS-REFERENCE TO RELATED APPLICATION This application claims priority to Japanese Patent Application No. 2022-118731 filed on Jul. 26, 2022, incorporated herein by reference in its entirety. BACKGROUND 1. Technical Field The disclosure relates to a steering computing device. 2. Description of Related Art For example, Japanese Unexamined Patent Application Publication No. 2008-49992 (JP 2008-49992 A) describes a device capable of changing a tilt angle defining the axial direction of an input shaft connected to a steering wheel. Further, JP 2008-49992 A describes a control device configured to execute control for assisting turning of steered wheels based on a detection value from a tilt angle sensor. SUMMARY However, in a case where no tilt angle sensor is provided, the control device cannot execute desired control. The following describes the means that can solve the problem and effects thereof. 1. One aspect of the present disclosure relates to a steering computing device that calculates a value of a state variable about a steering apparatus. The steering apparatus includes a steering wheel, an input shaft, an intermediate shaft, an output shaft, a first Cardan joint, a second Cardan joint, and steered wheels. The input shaft is connected to the steering wheel, the first Cardan joint is a member connecting the input shaft and the intermediate shaft, the second Cardan joint is a member connecting the intermediate shaft and the output shaft, and the steered wheels are configured to receive a steering torque input into the steering wheel, via the input shaft, the intermediate shaft, and the output shaft. The steering computing device includes a storage device and an execution device. Mapping data is stored in the storage device, the mapping data being data defining a mapping to output a tilt angle with a first bending angle and a second bending angle being taken as inputs. The first bending angle is an angle formed between the input shaft and the intermediate shaft. The second bending angle is an angle formed between the output shaft and the intermediate shaft. The execution device is configured to execute a bending angle acquisition process and a tilt angle calculation process. The bending angle acquisition process is a process of acquiring the first bending angle and the second bending angle. The tilt angle calculation process is a process of calculating the tilt angle by inputting the first bending angle and the second bending angle into the mapping. The tilt angle is a variable indicative of an angle formed between an axial direction of the input shaft and a reference direction. As described above, in a case where the input shaft, the intermediate shaft, and the output shaft are connected via the Cardan joints, a change in the tilt angle becomes a factor to change bending angles by the Cardan joints. This means that the tilt angle can be grasped from the first bending angle and the second bending angle. In view of this, with this configuration, the tilt angle can be calculated from the first bending angle and the second bending angle by use of a mapping having information on the relationship between the first bending angle and the second bending angle. 2. In the steering computing device according to the above aspect, the mapping data may include data indicative of a parallel vector component parallel to the reference direction. The mapping may include a position coordinate output mapping, a vector output mapping, and a tilt angle output mapping. The position coordinate output mapping may be a mapping to output position coordinates of a steering wheel side end part and position coordinates of a rotation center of the first Cardan joint in accordance with the first bending angle and the second bending angle. The vector output mapping may be a mapping to output an input shaft vector as a vector determined based on a position of the rotation center of the first Cardan joint and the steering wheel side end part. The tilt angle output mapping may be a mapping to output the tilt angle with the input shaft vector and the parallel vector component being taken as inputs. The steering wheel side end part may be an end part on a steering wheel side out of two end parts of the input shaft. A direction connecting the rotation center of the first Cardan joint to the steering wheel side end part is a direction defining the tilt angle. In view of this, with the above configuration, the tilt angle can be calculated by calculating the position coordinates of the rotation center of the first Cardan joint and the position coordinates of the wheel side end part. 3. In the steering computing device according to the above aspect, the position coordinate output mapping may be a mapping to output the position coordinates as solutions of simultaneous equations. The simultaneous equations may include a first bending angle relational expression and a second bending angle relational expression. The first bending angle relational exp