Lenksteuerungseinrichtung

Steering control device, and steering control method

Provided are a steering control device and the like, including the steps of: calculating a steering assist torque to be applied to an actuator for applying the steering assist torque to a steering system of a vehicle in order to improve return characteristics of the steering system; determining a steering state of a driver; correcting the steering assist torque depending on a result of the steering state determination; and controlling the actuator depending on the corrected steering assist torque, in which the step of determining a steering state of a driver includes determining the steering state of the driver based on a combination of at least two of the following: a manually-operating steering state determination; an abrupt steering wheel return determination; a high-acceleration steering wheel return determination; a manual return steering determination; and an additional-steering determination.

TRAVEL DIRECTION ESTIMATION DEVICE

A travel direction estimation device mounted on a vehicle including a position detector and an angular velocity detector to estimate a travel direction of the vehicle includes: a first angle processor calculating a first angle based on a change of a position of the vehicle being detected in the position detector and updated at a predetermined time interval, a second angle processor calculating a second angle based on a rotational angular velocity of the vehicle being detected in the angular velocity detector and a detection interval of the position of the vehicle in the position detector, and a travel direction processor calculating the travel direction of the vehicle based on the first angle and the second angle. The travel direction estimation device can estimate a travel direction of a vehicle with a high degree of accuracy.

RADIATOR SUPPORTING STRUCTURE

PROBLEM TO BE SOLVED: To provide a radiator supporting structure which improves flexibility in shape in regard to a hood. SOLUTION: A radiator 12 is descended at the the time of a vehicular collision. An enlarged space S3 is made between an upper end portion 24 of the radiator 12 and the hood 7, so that an only small space S1 is required to be provided in advance, and flexibility in shape in regard to the hood 7 is improved. COPYRIGHT: (C)2005,JPO&NCIPI ...

ELECTRIC POWER STEERING CONTROL DEVICE

PROBLEM TO BE SOLVED: To provide an electric power steering control device reducing pulsation generated by torque ripple which is fluctuation depending on variation among individuals and driving condition. SOLUTION: The electric power steering control device is provided with: a phase-amplitude estimation device 44 estimating phase difference against a torque ripple reference wave and amplitude of torque ripple acting on a motor based on steering torque detected by a torque sensor or a motor rotation angle detected by an angle sensor; a compensation current calculation device 45 calculating compensation current having periodicity against the motor rotation angle based on the phase difference and amplitude estimated by the phase-amplitude estimation device; and a target current correction device 46 correcting the target current for electric power assist by compensation current. Thereby, the device outputs torque canceling the torque ripple in the motor. COPYRIGHT: (C)2010,JPO&INPIT ...

SUBFRAME CONNECTION STRUCTURE

PROBLEM TO BE SOLVED: To enhance the energy absorption performance of a load input from the front side toward the rear side of a vehicle body while preventing a clearance under a vehicle from decreasing in a subframe connection structure. SOLUTION: In the subframe connection structure, a part of a vehicle rear Rr (a rear part) 31a of a subframe 31 is fastened to a floor panel 10, a rod 61 extending toward the vehicle rear Rr is connected to the under surface of the rear part 31a, and the rod 61 is connected with a pin stay 51 connected to floor members 11, 12 formed on the under surface of the floor panel 10 at a part (a connecting part 54) on the side of the vehicle rear Rr of connecting parts 52, 53. COPYRIGHT: (C)2004,JPO&NCIPI ...

Electric power-steering controller

An electric power-steering controller eliminates steering components from a dynamic state quantity such as a rotation speed signal using a small-amplitude filter for filtering small-amplitude components, and accurately extracts only vibration components which are smaller than the steering components in amplitude, thereby reducing the vibration components through a control operation.

LENKUNGSSTEUERUNGSGERÄT

Information-processing apparatus and display control method

An information-processing apparatus for displaying a moving image in a full-screen mode on a display device, comprises a graphics controller which generates a first video signal having a first resolution which is smaller than a resolution of the display device, a video processing unit which generates a second video signal by improving an image quality with respect to the first video signal, and a scaling processing unit which generates a third video signal for displaying the moving image in a full-screen mode on the display device by executing a scaling processing for converting a resolution of the second video signal to a second resolution which is greater than the first resolution.

BROWSER PROGRAM FOR TABLE LAYOUT, METHOD AND DEVICE

【課題】 １次元または２次元的な配列で構成される情報が持つ意味を可能な限り再現しつつ比較的小さな表示画面に表示することができる方法を提供する。 【解決手段】 コンテンツ内の、タグ<table>を用いて定義されたテーブルの行方向の幅に関し所定の判定基準にしたがって判定を行い、該判定の結果にしたがって、(1)テーブルをそのまま端末装置の表示画面内に表示する、(2)テーブルの少なくとも一つの行の行方向に配列された複数のセルについて、所定のアルゴリスムにしたがって、テーブルの少なくとも一つの行の行方向において隣り合わせに配列されるべき２以上のセルが、端末装置の表示画面の一つの行方向に並べられるよう表示する、を含むテーブルレイアウト処理のいずれか一つを選択して実行する。 【選択図】 図３

Motor

The invention provides a motor. And the accuracy of rotor position deduction is improved. A rotor of a motor according to one embodiment includes: a rotor core (31) formed of a magnetic body; a plurality of magnets (33a-33j) that are arranged on the rotor core (31) in the direction of rotation of the rotor; and a plurality of Hall elements that are disposed on the common mounting surface (41a) and that are capable of detecting the magnetic field of the magnets (33a-33j). When the direction of the central axis of the rotor is the vertical direction, the heights (ha-hj) of the magnets (33a-33j) with respect to the mounting surface (41a) are uneven.

VEHICLE DOOR SUPPORTING STRUCTURE

PROBLEM TO BE SOLVED: To provide a vehicle door supporting structure in which an entire door is displaced upwardly, fast and widely when the door is opened and no irregular feeling occurs in a door operating person for its operability. SOLUTION: This vehicle door supporting structure comprises door hinges 6, 7 arranged at the front end of a door, a rod-like member 5 movable in an upward or downward direction to which the door hinges 6, 7 are fixed to support the door, a gas stay 26 for driving the rod-like member 5 to displace the door in an upward or downward direction, and door position control means for displacing the door upwardly with a driving force of the gas stay 26 and applying a force to the door in its opening direction (main links 14, 16, control link 21 and sub-link 23). The door position control means holds the door at a height position where the gas stay 26 displaces it upwardly when the door is opened by more than a predetermined angle. COPYRIGHT: (C)2007,JPO&INPIT ...

ALUMINUM ALLOY FOIL FOR CATHODE OF ELECTROLYTIC CAPACITOR AND ITS PRODUCTION METHOD

PROBLEM TO BE SOLVED: To provide aluminum alloy foil for the cathode of an electrolytic capacitor in which etching pits can be uniformly dispersed, thus obtaining the distribution of the etching pits having high uniformity and high electrostatic capacity can be obtained, and to provide its production method. SOLUTION: The aluminum alloy foil for the cathode of an electrolytic capacitor has a composition comprising, by weight, 0.01 to 0.50% Si, 0.01 to 0.60% Fe, 0.01 to 0.50% Cu and 0.02 to 2.0% Mn, and the balance Al with inevitable impurities, and in which the ratio of Al-Fe-Mn-Si-based crystallized products (an α phase) occupied in all crystallized products is ≥50%. COPYRIGHT: (C)2006,JPO&NCIPI ...

Vibration Actuator

A vibration actuator includes: a coil having a vibration space along an axial direction; an outer case that covers the coil and that extends the vibration space in the axial direction; a movable element that comprises a magnet that vibrates within the coil and a weight unit that vibrates within the outer case and that is connected to one end side, in the axial direction, of the magnet; and an elastic member that supports elastically the vibration of the movable element in the axial direction. A resin layer is secured to an outer peripheral surface of the weight unit that faces an inner surface of the outer case. An oil film is interposed between the resin layer and the inner surface of the outer case. 1. A vibration actuator comprising:a coil having a vibration space along an axial direction;an outer case that covers the coil and that extends the vibration space in the axial direction; a magnet that vibrates within the coil and', 'a weight unit that vibrates within the outer case and that is connected to one end side, in the axial direction, of the magnet; and, 'a movable element that comprises'}an elastic member that supports elastically the vibration of the movable element in the axial direction, whereina resin layer is secured to an outer peripheral surface of the weight unit that faces an inner surface of the outer case, andan oil film is interposed between the resin layer and the inner surface of the outer case.2. The vibration actuator as set forth in claim 1 , further comprising:a bobbin that is wound with the coil, wherein,with the weight unit as a first weight unit, the movable element comprises a second weight unit that is connected to the other end, in the axial direction, of the magnet and that vibrates within the bobbin,a resin layer is secured to an outer peripheral surface of the second weight unit, facing an inner surface of the bobbin, andan oil film is interposed between the resin layer and the inner surface of the bobbin.3. The vibration actuator ...

INFORMATION PROCESSOR AND ITS STARTING METHOD

PROBLEM TO BE SOLVED: To provide an information processor kept from operating in a temperature state which is a potential cause of a failure while allowing the history of temperature information to be referred to if it is operated, and its starting method. SOLUTION: Temperatures of respective units in this information processor 1 are measured at its starting to display a warning by using an indicator 202 where the temperature gets out of a normal temperature range, and therefore, a temperature state which is a potential cause of a failure can be reported to a user. Further, since the history of temperature information is stored in a log domain 205B where temperature gets out of the temperature range, the cause of a failure or malfunction can be found out, if it happens, by referring to the log domain 205B. COPYRIGHT: (C)2008,JPO&INPIT ...

DOOR PANEL FOR VEHICLE

PROBLEM TO BE SOLVED: To improve safety of glass in a lowering state of glass at a door panel provided with a cable type window regulator. SOLUTION: A door panel 100 is provided with a center rail 50, and a guide rail 60 disposed on the door hinge side, and supports elevation of a door glass 20. Wheel 32 driven by a motor 30 elevates the door glass 20 through a cable 40. A glass stopper 200 is fixed at the lower end part of the guide rail 60. The glass stopper 200, when the door glass 20 is lowered down to the lowermost part, is disposed in a position wherein a gap is provided between the lower edge part 23 of the door glass 20 and the door stopper. When an impact is exerted on the door panel 100, a force to incline forward the door glass is exerted on the door glass 20 but regulated by the glass stopper 200. COPYRIGHT: (C)1998,JPO ...

Elektrische Servolenkungs-Steuervorrichtung

Elektrische Servolenkungs-Steuervorrichtung, die Folgendes aufweist: – ein Unterstützungskennfeld (11) zum Abgeben eines Unterstützungsdrehmomentstroms (Ia) auf der Basis eines Lenkdrehmoments (τ0), das von einem Fahrer auf ein Lenkrad aufgebracht wird; – ein Vibrationsextraktionsfilter (21) zum Ausführen einer Filterverarbeitung an dem Lenkdrehmoment (τ0) oder eines Drehgeschwindigkeitssignals (Sn) eines Motors (5) zum Erzeugen eines Unterstützungsdrehmoments, um eine Verstärkung auf einer Seite einer niedrigen Frequenz zu vermindern und dadurch ein Vibrationskomponentensignal (Sb) abzugeben; – ein Kennfeld (32) eines Stroms (Id) gegenüber einer variablen Verstärkung (Ki), um einen durch den Motor (5) fließenden Strom (Id) als erste Zustandsgröße zu erfassen, um dadurch eine variable Verstärkung (Ki) des Stroms auf der Basis des Stroms (Id) zu berechnen; – ein Kennfeld (31) eines Drehgeschwindigkeitssignals (Sn) gegenüber einer variablen Verstärkung (Kω), um die Drehgeschwindigkeit des ...

Motorsteuervorrichtung und elektrische Servolenkung, welche dieselbe verwendet

Es wird eine Motorsteuervorrichtung zum Unterdrücken einer Drehmomentpulsation mit eine einfachen Konfiguration, und zum Erhalten eines hinreichenden Abgabedrehmoments im Falle eines Offentypdefekts, der in irgendeiner der Wicklungen eines Motors und eines Wechselrichters auftritt, und eine die Motorsteuervorrichtung verwendende elektrische Servolenkungsvorrichtung bereitgestellt. In der Motorsteuervorrichtung zum Steuern eines aus einer Stromquelle zugeführten Stroms und einer zugeführten Spannung in Bezug auf den, Wicklungssätze einer Mehrzahl von Systemen enthaltenen Motors, wenn eine Fehlerbestimmungsmittel (31) das Auftreten des Offentypdefekts bestimmt, wird die Zufuhr der Ströme an die Wicklungen eines der Systeme, in denen der Defekt aufgetreten ist, durch, an Schaltelementen, die im Wechselrichter des defekten Systems enthalten sind, durchgeführte Steuerung gestoppt, während die Zufuhr der Ströme an die Wicklungen des normalen Systems, in welchem der Defekt nicht aufgetreten ist ...

ALUMINUM FOIL FOR PRINTED CIRCUIT

PROBLEM TO BE SOLVED: To provide aluminum foil for printed circuit by which, when forming a printed circuit, chemical solubility at etching can be improved and further the edge shape of a circuit line can be improved. SOLUTION: The aluminum foil for printed circuit has a composition consisting of 0.01 to 0.2% Si, 0.01 to 0.5% Fe, 0.01 to 0.05% Cu, 0.002 to 0.05% Ni and the balance Al with inevitable impurities. It is preferable that, in this aluminum, Ni-containing precipitates are dispersed in a density of 104 to 106 pieces/cm2. By this invention, excellent chemical solubility can be exhibited at etching and also the edge shape of the circuit line can be made excellent in sharpness characteristics, and the formation of a high-density circuit can be excellently performed. COPYRIGHT: (C)2008,JPO&INPIT ...

ALUMINUM FOIL FOR ELECTROLYTIC CAPACITOR ELECTRODE, AND ITS MANUFACTURING METHOD

PROBLEM TO BE SOLVED: To provide an aluminum foil for an electrolytic capacitor electrode capable of ensuring the excellent strength and the excellent electrostatic capacity even in Cu-less and Mn-less components. SOLUTION: The aluminum foil for the electrolytic capacitor electrode has the composition consisting of 0.01-0.30% Si, 0.01-0.30% Fe, 0.0021-0.05% Ni, 0.0016-0.05% Ti, 0.0031-0.05% B, 0.005-0.05% Ga, and the balance Al with inevitable impurities, while the composition of Cu and Mn is regulated to be ≤0.005% and ≤0.005%, respectively, in the inevitable impurities. When manufacturing the aluminum foil, the aluminum foil is preferably subjected to homogenization of heating the foil at the temperature of ≥ 550°C for ≥1 hour. The etching property can be improved without adding Cu or Mn, and the electrolytic capacitor electrode having both the high electrostatic capacity and the high reliability can be obtained thereby. COPYRIGHT: (C)2007,JPO&INPIT ...

Motor driven power steering control apparatus for suppressing vibration

A motor-driven power steering control apparatus is achieved, which uses a small-amplitude pass filter, the filter filtering out a component having a small amplitude, to remove a steering component from dynamic state quantity such as a rotational speed signal, and to accurately extract only a vibration component having a small amplitude compared with the steering component, and controls the vibration component to be reduced.

Steering control apparatus

In the control of an electric power steering apparatus, where so-called lead steering control is performed in which a steering wheel angle signal is output through a lead filter to correct reaction delay of a driver and a vehicle, a delay in control response occurs due to feedback of a road surface reaction force torque. When road surface reaction force torque is fed back to the steering wheel, it is added through a low-pass filter having a time constant equal to a reaction delay time constant of a driver. A sum signal is output through a lead filter to a second motor for controlling a steering shaft.

BODY STRUCTURE FOR VEHICLE

PROBLEM TO BE SOLVED: To provide a body structure of a vehicle capable of securing the prescribed deformation amount in a vehicle body at the time of side collision of a vehicle. SOLUTION: A vehicle body structure contains a cross member 14 provided to a front panel 12 of a vehicle 10, and a tunnel part 16 which is formed so as to cross the cross member 14 at the substantially center part of the floor panel 12 and which specifies a recess 18 opened downward. Electrical equipment 24a is retained in the undersurface of the floor panel 12 on a side of the tunnel par 16. In the recess 18, an exhaust pipe 20 is accommodated along the tunnel part 16. A beam member 25 is arranged above the exhaust pipe 20 in the recess 18 so as to cross the recess 18 corresponding with the cross member 14. When both side walls 16a of the tunnel part 16 are pressed and deformed in a mutually approaching direction by lateral pressing force F acting on the floor panel from a side of the floor panel 12, the beam member ...

BATTERY SUPPORT STRUCTURE FOR VEHICLE

PROBLEM TO BE SOLVED: To provide a battery support structure for vehicle which can prevent an engine mount bracket from getting large, and to sufficiently secure a collision energy absorbing function by a body skeleton member, while controlling vibration effectively in a low-frequency vibration area by an engine mount. SOLUTION: A mounting table 11 for a battery 10 mounted on a vehicle is divided into two parts of a first divided table 11a and a second divided table 11b, the first divided table 11a is supported to a battery bracket 14 attached to the body skeleton member 12, the second divided table 11b is supported to the engine mount bracket 13a, a battery weight shared by the engine mount bracket 13a is reduced thereby, and a natural frequency of the engine mount 13 is regulated to secure a collision energy absorbing function for the low-frequency vibration area, while preventing the engine mount bracket 13a from getting large. COPYRIGHT: (C)2003,JPO ...

Hindernisvermeidungseinrichtung und Hindernisvermeidungsrouten-Erzeugungseinrichtung

Bereitgestellt wird eine Hindernisvermeidungseinrichtung, die eine Distanz zwischen einem Subjektfahrzeug und einem Hindernis spezifizieren kann, wenn das Subjektfahrzeug dazu gebracht wird, das Hindernis zu vermeiden. Eine Hindernisvermeidungseinrichtung 201 beinhaltet: einen Hindernisbewegungsvorhersager 220, der Bewegung des Hindernisses vorhersagt, und einen Beschränkungsgenerator 230, der eine Beschränkung an einer Zustandsgröße oder einer Steuereingabe des Subjektfahrzeugs durch Bestimmen etabliert, ob links oder rechts um das Hindernis herum zu lenken ist, und eine Nicht-Eintrittszone definiert, um zu verhindern, dass das Subjektfahrzeug mit dem Hindernis kollidiert. Der Beschränkungsgenerator 230 inkorporiert in die Nicht-Eintrittszone eine Fläche links des Hindernisses, wenn bestimmt wird, rechts um das Hindernis herum zu lenken, und inkorporiert in die Nicht-Eintrittszone eine Fläche rechts des Hindernisses, wenn bestimmt wird, links um das Hindernis herum zu lenken.

Automatic steering apparatus

An automatic steering apparatus that can suppress steering wheel vibration and that can also smooth angular control. In the automatic steering apparatus, a motor that steers steered wheels is controlled by a control unit. Information from an angle sensor that generates a signal that corresponds to a steering angle of the steered wheels is sent to the control unit. The control unit corrects a target steering angle of the steered wheels such that angular acceleration of the target steering angle is less than or equal to a limiting value. The control unit controls the motor such that the steering angle of the steered wheels tracks the corrected target steering angle based on the information from the angle sensor.

Information-processing apparatus and display control method

An information-processing apparatus comprises a graphics controller which generates a video signal, a video processing controller which improves an image quality with respect to the video signal generated by the graphics controller, a detecting unit which detects whether or not a display mode of a display device is a full screen mode, and a control unit which sets a display control mode to a high image quality mode when it is detected that the display mode is the full screen mode, and wherein the video signal from the graphics controller is transmitted to the display device via the video processing controller in the high image quality mode.

Lenksteuerungseinrichtung

Vibration actuator

A vibration actuator includes: a coil having a vibration space along an axial direction; an outer case that covers the coil and that extends the vibration space in the axial direction; a movable element that comprises a magnet that vibrates within the coil and a weight unit that vibrates within the outer case and that is connected to one end side, in the axial direction, of the magnet; and an elastic member that supports elastically the vibration of the movable element in the axial direction. A resin layer is secured to an outer peripheral surface of the weight unit that faces an inner surface of the outer case. An oil film is interposed between the resin layer and the inner surface of the outer case.

VEHICLE STEERING CONTROL DEVICE

PROBLEM TO BE SOLVED: To provide a vehicle steering control device capable of continuing the torque assist by determining abnormality of a torque sensor in an early stage. SOLUTION: In a vehicle steering control device, a steering torque estimation unit 2011 estimates the steering torque of a steering wheel 1 based on the driving current of an electric actuator 11; a torque sensor 14 detects the steering torque of the steering wheel 1; an electric power assist unit is controlled based on the steering torque detected by the torque sensor 14; and a comparison unit 2012 compares the torque detected by the torque sensor 14 with the steering torque estimated by the steering torque estimation unit 20. The electric power assist unit is controlled based on the estimated steering torque by the steering torque estimation unit 2011 in place of being controlled based on the torque detected by the torque sensor 14 when the torque sensor 14 is judged to be abnormal, based on a comparison. COPYRIGHT: ...

ORGANIC ELECTROLUMINESCENT ELEMENT WITH ELECTRODE TERMINAL

PROBLEM TO BE SOLVED: To provide an organic electroluminescent element with an electrode terminal in which damage to an organic material layer is reduced and in which an outside circuit is electrically connected by a simple operation. SOLUTION: The organic electroluminescent element with the electrode terminal is provided with: a first substrate 11 in which a first electrode layer is formed on a surface; an organic material layer containing an organic light emitting material laminated on this electrode layer; a second electrode layer of the opposite electrode to the first electrode layer 12 laminated on the organic material layer; and a second substrate 15 arranged on the second electrode layer. A first electrode terminal electrically connected to the first electrode layer on a first electrode side surface of the first substrate, a third electrode terminal 18 not electrically connected to the first electrode layer, and a second electrode terminal electrically connected to the second electrode ...

Fahrtrichtung-Schätzeinrichtung

Es wird eine Fahrtrichtung-Schätzeinrichtung angegeben, die dazu imstande ist, die Fahrtrichtung eines Fahrzeugs mit einem hohen Genauigkeitsgrad zu schätzen. Eine Fahrtrichtung-Schätzeinrichtung (11), die an einem Fahrzeug montiert ist, das eine Positions-Detektionseinheit und eine Winkelgeschwindigkeits-Detektionseinheit aufweist, um die Fahrtrichtung des Fahrzeugs zu schätzen, weist Folgendes auf: eine Verarbeitungseinheit (21) für den ersten Winkel, die einen ersten Winkel auf der Basis einer Veränderung einer Position des Fahrzeugs berechnet, die in der Positions-Detektionseinheit detektiert wird und zu einem vorbestimmten Zeitintervall aktualisiert wird, eine Verarbeitungseinheit (22) für den zweiten Winkel, die einen zweiten Winkel auf der Basis einer Rotations-Winkelgeschwindigkeit des Fahrzeugs, die in der Winkelgeschwindigkeits-Detektionseinheit detektiert wird, und eines Detektionsintervalls der Position des Fahrzeugs in der Positions-Detektionseinheit berechnet, und eine Fahrtrichtung-Verarbeitungseinheit ...

OSCILLATING ACTUATOR

An oscillating actuator comprising a shaft, arranged along an axis of oscillation of a housing, having both ends fixed to end walls provided at both ends of the housing; a movable element having a magnet adapted to pass the shaft therethrough and movable in an extending direction of the shaft and a weight arranged adjacent to the magnet in the extending direction of the shaft, adapted to pass the shaft therethrough, and movable integrally with the magnet; and an elastic member, arranged between the movable element and the end wall, for urging the movable element in the oscillation axis direction; wherein the coil comprises first and second coils wound annularly about the axis of oscillation and disposed in parallel with each other in the oscillation axis direction, the first and second coils having respective current flowing directions different from each other.

STEERING CONTROL DEVICE

Steering shaft reaction torque is estimated by steering shaft reaction torque-estimating means, and reference road surface reaction torque is estimated by reference road surface reaction torque-estimating means. After that, the obtained steering shaft reaction torque and reference road surface reaction torque are weighted. Based on the weighted result, aimed steering reaction torque is set by aimed steering reaction torque-producing means. The width and inclination of a hysteresis of the aimed steering reaction torque are each adjusted so that steering feeling is easily improved. © KIPO & WIPO 2007 ...

Steering control apparatus

A steering control apparatus is obtained which includes an assist instruction-value correction device for calculating, based on a result of a friction transition-state determination device, an assist correction value in order to obtain an assist instruction-value after its correction being made by correcting a basic assist instruction-value so that a hysteresis width of steering torque increases at the time of turn-back steering, and an electric current driving device for driving a motor so that an electric current of the motor is coincident with an electric current instruction-value therefor after its correction being made on the basis of the assist instruction-value after its correction being made; and the friction transition-state determination device determines the friction transition-state by integrating a differential value of steering-shaft reaction torque using an integrator having a limiting function to an upper or lower limit value defined in advance.

Electric power steering system

An electric power steering system includes steering a torque detector that detects steering torque, and a motor that provides assist torque based on the detected steering torque, wherein for the purpose of estimating, without detecting motor rotation angular information and rotation angular velocity information, the road reaction torque in which the influence of the motor inertia torque is eliminated, a value corresponding to rotation velocity of a steering shaft is calculated based on the steering torque and the assist torque, to calculate road reaction torque based on the value corresponding to the rotation velocity of the steering shaft.

Power steering controller with compensation for tire deformation and caster

In a steering control device, a road surface reaction force torque calculation module (52) uses a vehicle speed, steering angle, and vehicle model to calculate a caster-trail-caused torque, a self-aligning torque, and a road surface reaction force torque. A reaction force command current calculation module (53) uses the road surface reaction force torque and the vehicle speed to calculate a reaction force command current.

ELECTRONIC EQUIPMENT

PROBLEM TO BE SOLVED: To achieve power saving in a display circuit of electronic equipment. SOLUTION: A display driver 201 detects that the transition of a display circuit including a GPU (Graphic Processing Unit) 116 to a power saving mode is possible according to processing on an application program 202, for example, the start processing of the application program by a processing detection part 501. When it is detected that the transition of the display circuit to the power saving mode is possible, a power saving mode setting part 502 sets the power saving mode to the display circuit, and decreases power consumption by decreasing the operating frequency of the GPU 116. COPYRIGHT: (C)2011,JPO&INPIT ...

ALUMINUM ALLOY FOIL FOR ELECTROLYTIC CAPACITOR CATHODE AND METHOD FOR PRODUCING THE SAME

PROBLEM TO BE SOLVED: To provide aluminum alloy foil for an electrolytic capacitor cathode which has no insufficiency in mechanical strength caused by its overmelting upon etching treatment, and has both of high electrostatic properties and high mechanical strength, and to provide a method for producing the same. SOLUTION: The aluminum alloy foil for an electrolytic capacitor cathode has a composition comprising, by mass, 0.02 to 0.20% Si, 0.02 to 0.20% Fe, 0.05 to 0.30% Cu and 0.1 to 2.0% Mn, and the balance Al with inevitable impurities, has an electric conductivity of 42 to 47% IACS, and has tensile strength of ≥170 MPa. COPYRIGHT: (C)2007,JPO&INPIT ...

STEERING GEAR FOR VEHICLE

PROBLEM TO BE SOLVED: To solve the problem in which steering of a vehicle becomes unstable when there is a status change such as a change of a frictional state of a tire and a road surface in the case when a steering angle of a steering wheel is conventionally decided by adding an auxiliary steering angle multiplying steering speed by a gain to steering wheel steering quantity of a driver. SOLUTION: An auxiliary steering angle generating means 6 determines an auxiliary steering angle by multiplying a steering wheel angular speed 301 by a specified gain. It restrains over-turning of the steering wheel and prevents the vehicle from becoming unstable by gradually reducing the gain multiplied to the steering wheel angular speed 301 with time in the case when road surface reaction is saturated (slipped) by detecting the road surface reaction generated on the steering wheel 17 by a road surface reaction detection means 4 in this computation. COPYRIGHT: (C)2006,JPO&NCIPI ...

Fahrzeuglenkvorrichtung und Fahrzeuglenksteuerverfahren

Es werden eine Fahrzeuglenkvorrichtung und dergleichen bereitgestellt, die fähig sind zum Konvergieren eines Seitenversatzes bei einer Vorwärtsblickpunktdistanz zu einer Sollfahrlinie mit einer einfachen Steuerung. Es wird eine Sollfahrlinie für ein Fahrzeug zum Fahren gesetzt, indem einem Fahrweg gefolgt wird, der aus einem durch eine Kamera oder dergleichen aufgenommenen Bild erkannt worden ist. Eine Seitengeschwindigkeit, die ein Änderungsausmaß des Seitenversatzes ist, der eine Differenz zwischen einer Position der Sollfahrlinie bei der Vorwärtsblickpunktdistanz und einer Position des Fahrzeugs ist, wird so gesteuert, dass der Seitenversatz reduziert wird. Ein Solllenkwinkel wird auf Grundlage der Seitengeschwindigkeit berechnet, und ein Lenkwinkel des Fahrzeugs wird auf Grundlage des berechneten Solllenkwinkels gesteuert. There are provided a vehicle steering apparatus and the like capable of converging a lateral offset at a forward sighting point distance to a target driving line with a simple control. A target driving line for a vehicle for driving is set by following a driving route recognized from an image taken by a camera or the like. A lateral velocity, which is a variation amount of the lateral displacement that is a difference between a position of the target driving line at the forward visual point distance and a position of the vehicle, is controlled so that the lateral displacement is reduced. A target steering angle is calculated based on the lateral velocity, and a steering angle of the vehicle is controlled based on the calculated target steering angle.

STEERING CONTROLLER

In a steering control device, a road surface reaction force torque calculation module () uses a vehicle speed, steering angle, and vehicle model to calculate a caster-trail-caused torque, a self-aligning torque, and a road surface reaction force torque. A reaction force command current calculation module () uses the road surface reaction force torque and the vehicle speed to calculate a reaction force command current. 16-. (canceled)7. A steering control device for controlling drive of a motor for imparting a power to a steering system , the steering control device comprising a steering control device main unit for carrying out filtering processing on a steering angle signal received from steering angle detection means for generating a steering angle signal corresponding to a steering angle of the steering system , by using a filter containing a predetermined frequency characteristic representing a vehicle characteristic from the steering angle to a self-aligning torque of a steered wheel of the steering system , and setting a drive torque of the motor based on a result of the filtering processing.8. A steering control device according to claim 7 , wherein the predetermined frequency characteristic of the filter includes a characteristic of a twist torque of a tire of the steered wheel claim 7 , the twist torque being a torque which is generated by the tire itself twisted by an elastic deformation and acts on the steering system.9. A steering control device according to claim 7 , wherein the steering control device main unit carries out the filtering processing on the steering angle signal by using a filter containing a predetermined frequency characteristic representing a vehicle characteristic from the steering angle to a caster-trail-caused torque claim 7 , the caster-trail-caused torque being a torque which is generated by a caster trail and a tire lateral force and acts on the steering system claim 7 , and corrects the drive torque based on a result of the ...

FAHRZEUGFAHRT-ASSISTENZVORRICHTUNG UND FAHRZEUGFAHRT-ASSISTENZVERFAHREN

Es wird eine Fahrzeugfahrt-Unterstützungseinrichtung angegeben, die dazu imstande ist, eine Vibration eines Lenkrads zu unterbinden, das durch einen Stoß einer automatischen Lenkung hervorgerufen wird, und eine fehlerhafte Bestimmung eines Lenkeingriffs durch einen Fahrer zu verhindern. Die Fahrzeugfahrt-Unterstützungseinrichtung weist Folgendes auf: eine Zustands-Erfassungseinheit, die so konfiguriert ist, dass sie ein Detektionsergebnis von einem Zustandsdetektor erfasst, der zum Detektieren eines Fahrzustands und eines Lenkzustands eines Fahrzeugs konfiguriert ist; eine Sollpfadinformation-Erfassungseinrichtung, die so konfiguriert ist, dass sie Sollpfad-Informationen erfasst, die einen Pfad angeben, auf welchem das Fahrzeug fahren soll; eine Vorhersageeinrichtung, die so konfiguriert ist, dass sie ein Fahrzeug-Bewegungsmodell, das eine Bewegung des Fahrzeugs beschreibt, sowie ein Lenkwellen-Bewegungsmodell verwendet, das eine Bewegung einer Lenkwelle beschreibt, die konfiguriert ist ...

VIBRATION ACTUATOR

A first weight portion of a vibration actuator includes an inner-side enlarged portion that protrudes from an end portion of a solid head in a direction of a vibration axis and that is inserted into an opening portion extending within a first compression coil spring along the direction of the vibration axis. An outer peripheral surface of the inner-side enlarged portion becomes continuously smaller in diameter from a base end towards a free end, with the vibration axis being the center of the diameter. That is, the inner-side enlarged portion has the shape of a truncated cone. The inner-side enlarged portion is inserted into the opening portion of the first compression coil spring and the opening portion is utilized to change the length of the inner-side enlarged portion in the direction of the vibration axis, thereby changing the mass of the first weight portion. 1. A vibration actuator in which a magnet vibrates linearly in a housing along a vibration axis as a result of cooperation of a coil and the magnet , the vibration actuator comprising:the housing;the coil that is disposed in the housing;the magnet that is surrounded by the coil; anda weight that vibrates together with the magnet along the vibration axis, the weight including a weight body portion and an inner-side enlarged portion, the weight body portion being urged by a compression coil spring disposed along the vibration axis, the inner-side enlarged portion having an outer peripheral surface, protruding from the weight body portion in a direction of the vibration axis, and being inserted into an opening portion extending within the compression coil spring along the direction of the vibration axis,wherein the outer peripheral surface of the inner-side enlarged portion becomes smaller in diameter from a base end towards a free end, the vibration axis being a center of the diameter.2. The vibration actuator according to claim 1 , wherein the weight further includes an outer-side enlarged portion that ...

Elektrische Servolenkungs-Steuervorrichtung

Eine elektrische Servolenkungs-Steuervorrichtung weist folgendes auf: ein Unterstützungskennfeld (11) zum Abgeben eines Unterstützungsdrehmomentstroms auf der Basis eines Lenkdrehmoments; ein Vibrations-extraktionsfilter (21) zum Ausführen einer Filterverarbeitung an dem Lenkdrehmoment oder einer Drehgeschwindigkeit eines Motors zum Erzeugen eines Unterstützungsdrehmoments, um eine Verstärkung auf einer Seite einer niedrigen Frequenz zu vermindern und dadurch ein Vibrationskomponentensignal abzugeben; ein Kennfeld (32) eines Stroms gegenüber einer variablen Verstärkung, um einen durch den Motor fließenden Strom als erste Zustandsgröße zu erfassen, um dadurch eine variable Stromverstärkung auf der Basis des Stroms zu berechnen; ein Kennfeld (31) einer Drehgeschwindigkeit gegenüber einer variablen Verstärkung, um die Drehzahl des Motors oder die Drehgeschwindigkeit des Lenkrads als zweite Zustandsgröße zu erfassen, um dadurch eine variable Verstärkung der Drehgeschwindigkeit auf der Basis ...

Vibration actuator

A first weight portion of a vibration actuator includes an inner-side enlarged portion that protrudes from an end portion of a solid head in a direction of a vibration axis and that is inserted into an opening portion extending within a first compression coil spring along the direction of the vibration axis. An outer peripheral surface of the inner-side enlarged portion becomes continuously smaller in diameter from a base end towards a free end, with the vibration axis being the center of the diameter. That is, the inner-side enlarged portion has the shape of a truncated cone. The inner-side enlarged portion is inserted into the opening portion of the first compression coil spring and the opening portion is utilized to change the length of the inner-side enlarged portion in the direction of the vibration axis, thereby changing the mass of the first weight portion.

INFORMATION PROCESSING APPARATUS

According to one embodiment, an information processing apparatus includes a display module, a first display controller configured to generate a first video signal, a second display controller configured to generate a second video signal, a selection module configured to select one of the first and second video signals, and output the selected video signal to the display module.

BROWSER PROGRAM, METHOD AND APPARATUS FOR PERFORMING TABLE LAYOUT

PROBLEM TO BE SOLVED: To provide a method of displaying contents on a comparatively small display screen, while reproducing the semantic meaning of information consisting of one or two dimensional arrangement as much as possible. SOLUTION: Decision is made with respect to a width in a row direction of a table defined by using a tag

Browser program for performing table-layout

There is provided a method of laying out contents targeted for a first device having a first screen size on a screen of a second device having a second screen size smaller than the first screen size. The method includes analyzing a table width of the table in accordance with a predetermined criterion; and performing in response to a result of the analyzing step one of layout operations of: (p1) laying out the table using a typical technique in accordance with the second screen size, and (p2) laying out a row of cells in the table so that at least two cells arranged adjacently in a horizontal direction in the row of the table are aligned horizontally on the screen of the second device based on a predetermined algorithm.

Fahrzeuglenkvorrichtung und Fahrzeuglenksteuerverfahren

Fahrzeuglenkvorrichtung (10) mit:einem Fahrweg-Erkennungsabschnitt (21) zum Erkennen eines Fahrwegs, auf dem ein Fahrzeug (1) fährt;einem Sollfahrlinie-Setzabschnitt (22) zum Setzen einer Sollfahrlinie, die durch das Fahrzeug (1) zum Fahren während des Folgens des Fahrwegs verwendet wird;einem Seitenversatz-Berechnungsabschnitt (23) zum Erfassen eines Seitenversatzes (yLd), der eine Differenz (yl-yO) zwischen einer Position der Sollfahrlinie (P1; (x1, y1)) und einer Position des Fahrzeugs bei einer Vorwärtsblickpunktdistanz (P0+Ld; (x0+Ld, y0)) des Fahrzeugs ist;einem Solllenkwinkel-Berechnungsabschnitt (26) zum Berechnen eines Solllenkwinkels (θ), um den Seitenversatz (yLd) zu reduzieren; undeinem Lenksteuerabschnitt (29) zum Steuern eines Lenkwinkels des Fahrzeugs (1) auf Grundlage des durch den Solllenkwinkel-Berechnungsabschnitt (26) berechneten Solllenkwinkels (θ),wobei der Solllenkwinkel-Berechnungsabschnitt (26) eine Seitengeschwindigkeit (y'Ld=-λ·yLd) steuert, die ein Änderungsausmaß ...

Steering control device, and steering control method

Provided are a steering control device and a steering control method therefor, which reduce a steering feeling of discomfort due to a pulsed change (short abrupt change) in steering assist torque caused when control such as steering wheel return control is turned on/off, and which acquire a sufficient control effect even when high control response is required, by reducing a fluctuation in steering assist torque caused when one steering assist torque is selected from two or more steering assist torques by low-pass filtering, and by correcting the low-pass filtering depending on a change amount of the selected steering assist torque.

ALUMINUM ALLOY FOIL FOR ELECTROLYTIC CAPACITOR CATHODE AND METHOD FOR PRODUCING THE SAME

PROBLEM TO BE SOLVED: To provide aluminum alloy foil for an electrolytic capacitor cathode by which high electrostatic capacity is attained. SOLUTION: The aluminum alloy foil for an electrolytic capacitor cathode has a composition composed of, by mass, 0.01 to 0.15% Si, 0.01 to 0.15% Fe, ≤0.005% Cu, ≤0.001% Ti and 0.0005 to 0.0050% B, Ti/B≤0.5, 0.004-0.05% Ga, 0.006-0.1% in total of one, or two or more kinds of Na, In, Zn, Ni and Mg and the balance Al with inevitable impurities. COPYRIGHT: (C)2011,JPO&INPIT ...

Travel direction estimation device

A travel direction estimation device mounted on a vehicle including a position detector and an angular velocity detector to estimate a travel direction of the vehicle includes: a first angle processor calculating a first angle based on a change of a position of the vehicle being detected in the position detector and updated at a predetermined time interval, a second angle processor calculating a second angle based on a rotational angular velocity of the vehicle being detected in the angular velocity detector and a detection interval of the position of the vehicle in the position detector, and a travel direction processor calculating the travel direction of the vehicle based on the first angle and the second angle. The travel direction estimation device can estimate a travel direction of a vehicle with a high degree of accuracy.

ELECTRONIC EQUIPMENT

PROBLEM TO BE SOLVED: To provide electronic equipment capable of easily performing bacteria elimination processing. SOLUTION: Power supply is laid in OFF state. Whether a back light button 9 is pressed or not is determined. When it is confirmed that the back light button 9 is pressed and a display part 3 is in a closed position, a back light 7a is lighted to start a bacteria elimination mode. When the back light 7a is lighted, the light from the back light 7a is passed through the glass of a liquid crystal display device 7, and radiated to the upper surface 5 of a body opposed thereto, a keyboard 4, and a pointing device 6. Each of the upper surface 5, the keyboard 4 and the pointing device 6 is coated with a photocatalyst, and bacteria elimination is performed in reaction to the light from the back light 7a. COPYRIGHT: (C)2006,JPO&NCIPI ...

Electric power-steering control apparatus

A steering-torque detecting unit detects a steering torque applied by a driver as a steering torque signal. A phase-lag compensation unit performs an operation having a frequency response characteristic of multiplying a phase-lag compensation by a constant for the steering torque signal based on a signal obtained by applying an amplification by a first gain and a low pass filter on the steering torque signal and a signal obtained by applying an amplification by a second gain on the steering torque signal. A current control unit controls a current applied to a motor to follow a current command that is obtained based on an output of the phase-lag compensation unit.

Zielspurerzeugungsvorrichtung, Fahrzeugsteuerungsvorrichtung, Zielspurerzeugungsverfahren und Fahrzeugsteuerungsverfahren

In einer Zielspurerzeugungsvorrichtung (10) erfasst eine Vorausfahrendes-Fahrzeugpositionserfassungseinheit (1) eine Relativposition eines vorausfahrenden Fahrzeugs. Eine Zielfahrzeugzustandsgrößenerfassungseinheit (2) erfasst eine Zustandsgröße eines Zielfahrzeugs. Ein Bewegungsbetragsrechner (3) für das Zielfahrzeug berechnet einen Bewegungsbetrag des Zielfahrzeugs, basierend auf der Zustandsgröße des Zielfahrzeugs. Ein Zielfahrzeug-Referenz-Vorausfahrendes-Fahrzeugpositionsrechner (4) berechnet eine Punktgruppe von Zielfahrzeug-Referenz-Vorausfahrendes-Fahrzeugpositionen, die ein Verlauf der Relativposition des Zielfahrzeugs in einem Koordinatensystem darstellen, wobei eine aktuelle Position des Zielfahrzeugs als Referenz verwendet wird, basierend auf der Relativposition des Zielfahrzeugs und dem Bewegungsbetrag des Zielfahrzeugs. Ein Zielspurgenerator (5) erzeugt eine Zielspur des Zielfahrzeugs, basierend auf der Punktgruppe des Zielfahrzeugs als Referenz für vorangegangene Fahrzeugpositionen ...

Vibration actuator

Browser program for performing table-layout

There is provided a method of laying out contents targeted for a first device having a first screen size on a screen of a second device having a second screen size smaller than the first screen size. The method includes analyzing a table width of the table in accordance with a predetermined criterion; and performing in response to a result of the analyzing step one of layout operations of: (p1) laying out the table using a typical technique in accordance with the second screen size, and (p2) laying out a row of cells in the table so that at least two cells arranged adjacently in a horizontal direction in the row of the table are aligned horizontally on the screen of the second device based on a predetermined algorithm.

INFORMATION APPARATUS AND DISPLAY CONTROL METHOD OF THE SAME

PROBLEM TO BE SOLVED: To provide an information apparatus capable of optionally selecting a display environment wherein externally entered video information is appreciated or a processing job environment attended with data display intervened by CPU processing through user's simple operations. SOLUTION: When a video signal is given to a video input terminal 130 while the utility sets "automatic switching", information displayed on a display section 106 is switched from internal processing information processed by a CPU 101 into external display information processed by a second display controller 104B. In the case of "manual switching", every time a display switching button 115 is operated, an EC / KBC 111 applies switching control to a display changeover switch 105 to switch output display of a first display controller 104A and output display of the second display controller 104B. COPYRIGHT: (C)2006,JPO&NCIPI ...

VEHICULAR STEERING CONTROL DEVICE

PROBLEM TO BE SOLVED: To provide a vehicular steering control device for improving steering feeling by preventing an arithmetic operation value of compensating torque from becoming excessive more than actual road surface reaction torque, by arranging a compensating torque limiting means for limiting the compensating torque in response to the road surface reaction torque. SOLUTION: In reaction torque compensating control for compensating for a road surface reaction torque variation by an electric power assist means to the road surface reaction torque variation caused when an angle superimposing means steers a steering angle of a wheel regardless of the steering of a driver, this vehicular steering control device also has a compensating torque limiting means 2013 limiting the compensating torque to a predetermined limiting value and a road surface reaction torque detecting means 2014 detecting the road surface reaction torque Test acting in the rotational direction of a steering wheel via ...

Electric motor

The invention provides an electric motor in which a stator is mounted at an appropriate position. The electric motor (10) has a base member (12) having: a base plate (30) having a shaft holder (21) that rotatably supports a rotor (15); and support walls (31, 32) extending from the substrate in an intersecting direction intersecting the substrate. The electric motor has a stator (20) having a stator core (55) disposed on the inside of the support wall and a stator coil (57) wound around the stator core. A plurality of protrusions (41a, 42a, 43a) are formed on the outer peripheral surface (55a) of the stator core at unequal intervals in the circumferential direction, and a plurality of recesses (41b, 42b, 43b) are formed on the inner peripheral surfaces (31a, 32a) of the support walls at unequal intervals in the circumferential direction. The plurality of convex portions and the plurality of concave portions are engaged with each other.

STEERING ANGLE SUPERIMPOSED TYPE STEERING DEVICE

PROBLEM TO BE SOLVED: To solve the problem that a steering feeling is deteriorated due to the backlash and the reduction of rigidity of a steering angle transmission ratio variable mechanism. SOLUTION: The steering device for making a steering angle of a steering wheel a wheel steered angle by adding a predetermined superimposed angle, is equipped with a motor for superimposing for adding the superimposed angle, an external cylinder for a ball screw rotated in response to an input to the steering wheel, an external cylinder for a spline rotated by the motor for superimposing, a ball screw spline shaft which is engaged with the external cylinder for the ball screw and the external cylinder for the spline, and linearly moves by the rotation of these both external cylinders, and a link mechanism which turns the wheel by linearly moving the ball screw spline shaft. The wheel steered angle is determined based on the sum of the steering angle by the input to the steering wheel and the steering ...

Vehicle steering control device

Steering control device

In an electrical power steering apparatus, steering shaft reaction torque is estimated by a steering shaft reaction torque estimation unit, and a reference road reaction torque is estimated by a reference road reaction torque estimation unit. The estimated steering shaft reaction torque and the reference road reaction torque are weighted, and, in response, a target steering reaction torque is set by a target steering reaction torque generation unit, hysteresis width and slope of the target steering reaction torque are respectively adjusted, and steering feeling is thereby easily improved.

AUTOMATISCHE LENKSTEUERUNGSVORRICHTUNG UND AUTOMATISCHES LENKSTEUERUNGSVERFAHREN

Es ist Aufgabe der vorliegenden Erfindung, eine Technik zum Vermeiden einer Fahrzeugfahrt anzugeben, bei welcher eine Pfad-Folgefähigkeit verschlechtert ist. Eine automatische Lenksteuerungsvorrichtung (1) weist Folgendes auf: eine Sollpfad-Bezugseinheit (22a), die einen Sollpfad bezieht, der ein Fahrtpfad des Fahrzeugs sein soll, eine Sollruderwinkel-Bezugseinheit (22c), die einen Sollruderwinkel bezieht, der ein Ruderwinkel im Fahrzeug sein soll, und zwar auf der Basis des Sollpfades, eine Schräglaufwinkel-Schätzeinheit (22d), die einen Schräglaufwinkel im Fahrzeug schätzt, das mit dem Sollruderwinkel fährt, und zwar auf der Basis des Sollruderwinkels und eines Fahrzeugzustands des Fahrzeugs, und eine automatische Lenksteuerungseinheit (22e). Die automatische Lenksteuerungseinheit führt zumindest eine Funktion von Stoppen der automatischen Lenksteuerung und Steuern einer Lenkgröße-Regelverstärkung zum Regeln des Sollruderwinkels durch, wenn der geschätzte Schräglaufwinkel gleich groß wie oder größer ist als ein vorbestimmter Wert. It is an object of the present invention to provide a technique for avoiding vehicle travel in which path following ability is deteriorated. An automatic steering control apparatus (1) includes: a target path reference unit (22a) that acquires a target path to be a travel path of the vehicle, a target rudder reference unit (22c) that obtains a target rudder angle that is a rudder angle in the vehicle and, based on the target path, a slip angle estimating unit (22d) estimating a slip angle in the vehicle traveling at the target rudder angle based on the target rudder angle and a vehicle state of the vehicle, and an automatic steering control unit (22e ). The automatic steering control unit performs at least a function of stopping the automatic steering control and controlling a steering amount control gain for controlling the target rudder angle when the estimated slip angle is equal to or greater than a predetermined value.

Kollisionsvermeidungseinrichtung

Bereitgestellt wird eine Kollisionsvermeidungseinrichtung, die eine Kollision durch sowohl Lenken als auch Bremsen vermeiden kann. In der Kollisionsvermeidungseinrichtung 201 definiert eine Nichteintrittszonen-Definiereinheit 220 eine Nichteintrittszone, um zu verhindern, dass ein Subjektfahrzeug mit einem Hindernis um das Subjektfahrzeug herum kollidiert, basierend auf Hindernisinformation, welche Information zu einer Position des Hindernisses beinhaltet, und basierend auf Spurinformation, die Information zu einer Fahrspur des Subjektfahrzeugs ist. Eine Folgebestimmungseinheit 230 bestimmt, ob das Hindernis ein Vermeidungsziel oder ein Folgeziel ist, basierend auf der Position des Hindernisses oder einer Position der Nichteintrittszone. Eine Beschränkungs-Etabliereinheit 240 etabliert eine Beschränkung zu einer Zustandsgröße oder einer Steuereingabe des Subjektfahrzeugs, um das Subjektfahrzeug daran zu hindern, zumindest die Nichteintrittszone nicht zu betreten.

Steering control apparatus

Based on the result of determination by a friction transition state determination unit, an assist command value correction unit corrects a basic assist command value in such a way that the hysteresis width of steering torque at a time of turning steering increases; then, a current driving unit controls a motor current in such a way that the motor current coincides with a current command value obtained by correcting the basic assist command value by use of an assist command correction value.

VIBRATION DAMPING SUPPORT DEVICE

【課題】防振マウントとダイナミックダンパを組み合わせた防振支持装置において、ダイナミックダンパ機能を大きくしても配置自由度が大きな防振支持装置を提供する。 【解決手段】起振源を弾性支持する起振側弾性体１を挟んで車両幅方向で対向配置される２組の制振側弾性体２を備える。上記起振側弾性体１と上記２組の制振側弾性体２とは質量体３で連結される。上記制振側弾性体２と起振側弾性体１とは、車幅方向からみて重なる位置に配置される。 【選択図】 図１

LENKSTEUERGERÄT FÜR EIN FAHRZEUG

Es wird ein Lenksteuergerät für ein Fahrzeug angegeben, das so konfiguriert ist, dass es die Lenkung eines Lenkrads durch einen Fahrer unterstützt, um ein Antriebszerren zu verringern, wenn geschätzt wird, dass sich der Zustand des Fahrzeugs in einem Zustand befindet, in dem das Antriebszerren auftritt, und um einen ersten Strombefehlswert auf der Grundlage des Lenkmoments und der Fahrzeuggeschwindigkeit zu berechnen, der auf den Motor gerichtet ist. Das Lenksteuergerät speichert den Lenkwinkel als Lenkwinkel beim Antriebszerren, wenn geschätzt wird, dass der Fahrzeugzustand der Zustand ist, in dem das Antriebszerren auftritt, berechnet aus einer Winkelabweichung zwischen dem Lenkwinkel bei Antriebszerren und einem aktuellen Lenkwinkel einen zweiten Strombefehlswert und korrigiert den ersten Strombefehlswert durch Verwendung des zweiten Strombefehlswertes, um dadurch den Motor anzutreiben und das Auftreten eines Phänomens unbeabsichtigter Lenkens durch das Antriebszerren zu verhindern.

SLIT COATER

【課題】構成部材をコータユニット側から取り外すことなくスリット内を洗浄することができるスリットコータの提供。 【解決手段】対となって配置されるリップ部１２，２２相互間に塗布液吐出用のスリット３２を介在させてなるスリットコータ１１において、いずれか一方のリップ部１２は、コータユニット側に対し基準となるべき固定側リップ部１３として位置固定され、他方のリップ部２２は、使用される塗布液との関係で耐性を備える素材からなるシール材４２を介して吐出口３２ａを除くスリット３２の内部空間３３を外部から封止しつつ固定側リップ部１３に対し取り外し可能な着脱側リップ部２３として配置した。 【選択図】図１

Lenkungssteuervorrichtung für Kraftfahrzeug

Vehicle steering device and vehicle steering control method with reduced lateral speed

Provided are a vehicle steering device and the like, which are capable of converging a lateral displacement at a forward gazing-point distance to a target travel line with simple control. A target travel line for a vehicle to travel by following a travel path recognized from an image taken by a camera or the like is set. A lateral speed, which is a change amount of the lateral displacement that is a difference between a position of the target travel line at the forward gazing-point distance and a position of the vehicle, is controlled so that the lateral displacement is reduced. A target steering angle is calculated based on the lateral speed, and a steering angle of the vehicle is controlled based on the calculated target steering angle.

ELECTRIC POWER STEERING CONTROL DEVICE

An electric power steering control device includes: a vibration extracting filter for performing filter processing on a rotation speed of a motor to reduce a gain on a low frequency side so as to output a vibration-component signal; a current variable gain map for detecting a current flowing through the motor as a first state quantity so as to calculate a current variable gain based on the current; a rotation-speed variable gain map for detecting the rotation speed of the motor as a second state quantity so as to calculate a rotation-speed variable gain based on the rotation speed; a correction mechanism calculating a vibration suppression current; and current controller calculating a target current so as to control the current flowing through the motor. 17-. (canceled)8. An electric power steering control device , comprising:an assist map for outputting an assist torque current based on a steering torque applied to a steering wheel by a driver;a vibration extracting filter for performing filter processing on the steering torque or a rotation speed of a motor for generating an assist torque to reduce a gain on a low frequency side so as to output a vibration-component signal;a current variable gain map for detecting a current flowing through the motor as a first state quantity so as to calculate a current variable gain based on the current;a rotation-speed variable gain map for detecting the rotation speed of the motor or a rotation speed of the steering wheel as a second state quantity so as to calculate a rotation-speed variable gain based on the rotation speed;correction means for calculating a vibration suppression current based on the vibration-component signal, the current variable gain, and the rotation-speed variable gain; andcurrent control means for calculating a signal obtained by correcting the assist torque current with the vibration suppression current as a target current so as to control the current flowing through the motor,wherein:the current ...

TORQUE ADDING TYPE STEERING DEVICE

PROBLEM TO BE SOLVED: To provide a torque adding type steering device made non-bulky by miniaturizing a motor used even if simultaneously using steering angle superimposition and power steering. SOLUTION: A steering control device can vary the steered ratio being the ratio of a rotating speed of an output shaft to a steering wheel, and has the separate motors for respectively driving a sun gear and an internal gear, and has a timing belt and a gear for taking out only rotation of a planetary gear, and is constituted for transmitting the rotation of the planetary gear to the steering wheel. COPYRIGHT: (C)2009,JPO&INPIT ...

Servolenkungs-Einstellvorrichtung

Wenn eine Eingabeeinheit für Einstellungsinformationen (1) eine der Informationen eines Gefühlswerts und der Lenksteuerinformationen erfasst, berechnet die Berechnungseinheit für Lenksteuerinformationen (2) mittels der erfassten Informationen Daten für einen Steuerungskennliniengraphen, der die Steuerungskennlinie der Lenkung visuell repräsentiert. Eine Anzeigeneinheit für Einstellungsinformationen (3) zeigt auf demselben Bildschirm einen Steuerungskennliniengraphen in Übereinstimmung mit den Daten des Steuerungskennliniengraphen und eines Gefühlswertbedienungsabschnitts, die den Gefühlswert visuell darstellen.

Sliding door structure for automobile

A sliding door structure of a vehicle is provided for sliding a door body with respect to an opening portion of a vehicle body in forward and rearward directions of the vehicle body for opening and closing. The sliding door structure includes a rail disposed on the door body and aligned with the forward and rearward directions of the vehicle body. An arm protrudes from an edge portion on a door opening direction side of the opening portion of the vehicle body, and is configured to engage with the rail to hold the door body movably in the forward and rearward directions. The door body is able to slide in the door opening direction after engagement between the vehicle body side engagement portion and the arm side engagement portion when the arm pushes the door body outwardly in the width direction of the vehicle.

ALUMINUM ALLOY FOIL FOR CATHODE OF ELECTROLYTIC CAPACITOR, AND MANUFACTURING METHOD THEREFOR

PROBLEM TO BE SOLVED: To provide an aluminum foil used for a cathode of an electrolytic capacitor with a high capacitance and a high strength. SOLUTION: The aluminum alloy foil for the cathode of the electrolytic capacitor comprises 0.15-0.25% Si (by wt.% hereinafter)0.35-0.70% Fe, 0.10-0.50% Cu, 0.2-2.0% Mn, and the balance Al with unavoidable impurities, and satisfies Fe/Si of 1.5-3.0. Thereby, the foil for the cathode of the electrolytic capacitor with the high capacitance and the high strength is provided. COPYRIGHT: (C)2004,JPO ...

Oscillating actuator

Information processing apparatus and display control method for information processing apparatus

According to this invention, an information processing apparatus includes a display, a processor which executes a predetermined program process for data to be displayed on the display, and outputs first data as a result of execution, and an external input terminal which externally inputs second data to be displayed on the display. The information processing apparatus further includes a controller which switches between the first data output from the processor and the second data input to the external input terminal, and displays the first data or the second data, that is different from the data displayed on the display before switching, on the display.

STEERING CONTROL APPARATUS

A steering control apparatus is obtained which includes an assist instruction-value correction device for calculating, based on a result of a friction transition-state determination device, an assist correction value in order to obtain an assist instruction-value after its correction being made by correcting a basic assist instruction-value so that a hysteresis width of steering torque increases at the time of turn-back steering, and an electric current driving device for driving a motor so that an electric current of the motor is coincident with an electric current instruction-value therefor after its correction being made on the basis of the assist instruction-value after its correction being made; and the friction transition-state determination device determines the friction transition-state by integrating a differential value of steering-shaft reaction torque using an integrator having a limiting function to an upper or lower limit value defined in advance. 1. A steering control apparatus , comprising:a steering torque detection device for detecting steering torque of a steering mechanism steered by a driver of a wheeled vehicle;a vehicle speed detection device for detecting a vehicle speed of the wheeled vehicle;a motor for giving steering assist force thereby to the steering mechanism;a steering-shaft reaction-torque calculation device for detecting or calculating steering-shaft reaction torque acting on a steering shaft of the steering mechanism;a basic assist instruction-value calculation device for calculating a basic assist instruction-value being an electric current instruction-value to cause a current flow in the motor, based on steering torque detected by the steering torque detection device, and a vehicle speed detected by the vehicle speed detection device;a friction transition-state determination device for determining a friction transition-state, based on the steering-shaft reaction torque;an assist instruction-value correction device for ...

Steering control device

The steering control device includes: current command value 1 calculation unit 11 which determines current command value 1 based on a vehicle speed and a steering torque; current command value 2 calculation unit 14 which determines current command value 2 based on a filtered differential value of the steering torque; and current drive unit 10 which drives motor 5 so that the value of the motor current matches the sum of current command values 1 and 2. When a first crossover frequency represents the crossover frequency of control open loop characteristics in the steering control device as obtained when current command value 2 is determined using a differential value of the steering torque which has not been filtered, the notch frequency of the notch filter is set to be greater than the mechanical resonance frequency of the steering control device and smaller than the first crossover frequency.

Information processing apparatus and display control method

An information processing apparatus capable of displaying moving-picture image on a display device comprises a display controller which generates an image signal corresponding to a display image to be displayed on the display device, an image processing controller which processes the image signal generated by the display controller to enhance a quality of the display image, means for determining a type of the display device, and a controller configured to set an image quality enhancement parameter at the image processing controller according to the type of the display device determined by the determining means.

Vehicle steering control apparatus

A vehicle steering control apparatus having high robustness while ensuring the accuracy of automatic parking. The steering control apparatus includes a target parking position computing module to calculate a target parking position, a target line computing module to calculate a target parking line, an own vehicle position target attitude angle computing module to calculate an own vehicle position target attitude angle, an own vehicle attitude angle, and the target parking line, an own vehicle position target curvature computing module to calculate an own vehicle position target curvature, and a steering controller for calculating a target steering angle based on the own vehicle position target curvature and performing control such that the actual steering angle matches the target steering angle.

BIOLOGICAL INFORMATION GENERATION DEVICE, BIOLOGICAL AUTHENTICATION DEVICE, BIOLOGICAL INFORMATION GENERATION METHOD AND BIOLOGICAL AUTHENTICATION METHOD

PROBLEM TO BE SOLVED: To provide the technology for generating a plurality of biological information from one living body. SOLUTION: When the living body (the finger S) is placed at a position A, only a region 302 in a range 300 as the object of photographing by an optical unit part is exposed to the outside, and a region 304 (shown by hatching) is covered with an optical sensor protection cover 103. Then, the portion of the living body (finger S) included in the region 302 is included in image data. In the same way, as shown in Fig.4(b), when the living body (finger S) is placed at a position B, the object to the lower portion of the first joint of the finger is photographed. Also, as shown in Fig.4(c), when the living body (finger S) is placed at a placement position C, the living body to the neighborhood of the second joint of the finger is photographed. By making different the placing positions of the living body, it is possible to acquire a plurality of image data different from each ...

Steering controller

To accurately extract a pulsating component generated due to a cogging torque or a torque ripple to reduce a pulsation, the pulsating component is extracted using a bandpass filter having a variable time constant, and the time constant is set according to a frequency of cogging torque or torque ripple to be extracted. Further, a reference angle for a rotation angle of a motor is preset according to a generation harmonic order of the cogging torque or torque ripple, and the time constant of the bandpass filter is set from a time period required for the motor to rotate by the reference angle.

OBSTACLE AVOIDANCE APPARATUS AND OBSTACLE AVOIDANCE ROUTE GENERATING APPARATUS

Provided is an obstacle avoidance apparatus that can specify a distance between a subject vehicle and an obstacle when making the subject vehicle avoid the obstacle. An obstacle avoidance apparatus includes: an obstacle movement predictor that predicts movement of the obstacle; and a constraint generator that establishes a constraint on a state quantity or a control input of the subject vehicle by determining whether to steer right or left around the obstacle and defining a no-entry zone for preventing the subject vehicle from colliding with the obstacle. The constraint generator incorporates, into the no-entry zone, an area to the left of the obstacle when determining to steer right around the obstacle, and incorporates, into the no-entry zone, an area to the right of the obstacle when determining to steer left around the obstacle. 1. An obstacle avoidance apparatus , comprising:a processor to execute a program; anda memory to store the program which, when executed by the processor, performs processes of:predicting movement of an obstacle around a subject vehicle, based on obstacle information including information on a position of the obstacle;establishing a constraint on a state quantity or a control input of the subject vehicle by determining whether to steer right or left around the obstacle based on the predicted movement of the obstacle and defining a no-entry zone for preventing the subject vehicle from colliding with at least the obstacle;setting an evaluation function for evaluating at least a route following error as an evaluation item so that a degree of evaluation increases as the route following error is smaller, the route following error being an error in a predicted route with respect to a target route of the subject vehicle;computing, under the constraint, a solution for increasing the degree of evaluation on the evaluation function;computing a predicted value of the state quantity of the subject vehicle based on the solution; andcomputing a target ...

Input system and input device

An input system includes an information generation part which generates input information based on a given input operation, a transmission part which transmits signals generated by having a plurality of different carrier frequencies modulated with the input information, and a reception part which receives the transmitted signals and demodulates the signals into the input information.

BROWSER PROGRAM FOR PERFORMING TABLE-LAYOUT

There is provided a method of laying out contents targeted for a first device having a first screen size on a screen of a second device having a second screen size smaller than the first screen size. The method includes analyzing a table width of the table in accordance with a predetermined criterion; and performing in response to a result of the analyzing step one of layout operations of: (p1) laying out the table using a typical technique in accordance with the second screen size, and (p2) laying out a row of cells in the table so that at least two cells arranged adjacently in a horizontal direction in the row of the table are aligned horizontally on the screen of the second device based on a predetermined algorithm.

SLIDING DOOR STRUCTURE FOR VEHICLE

PROBLEM TO BE SOLVED: To provide a sliding door structure for a vehicle wherein a central portion of the door body can reliably supported without retaining a rear end portion of the door when the door is fully opened. SOLUTION: Almost at the same time when the door body 3 is moved backward in the beginning of the opening movement of the door body 3, a central arm 12 rotating and raising pushes the rear end part of the door body 3 outward beyond a rear fender 1a in the vehicle width direction. On this occasion, a protruding element 21 and a recess 22 provided on a cart 8 and a rear edge of the opening part 2 of the vehicle are engaged, so that the cart 8 is connected to the vehicle body 1 side and is retained. Thereby, the door body 3 slides rearward of the vehicle with respect to the cart 8. COPYRIGHT: (C)2008,JPO&INPIT ...

AUTOMATIC STEERING APPARATUS

An automatic steering apparatus that can suppress steering wheel vibration and that can also smooth angular control. In the automatic steering apparatus, a motor that steers steered wheels is controlled by a control unit. Information from an angle sensor that generates a signal that corresponds to a steering angle of the steered wheels is sent to the control unit. The control unit corrects a target steering angle of the steered wheels such that angular acceleration of the target steering angle is less than or equal to a limiting value. The control unit controls the motor such that the steering angle of the steered wheels tracks the corrected target steering angle based on the information from the angle sensor. 19-. (canceled)10. An automatic steering apparatus comprising:a motor that steers a steered wheel;a steering angle detecting portion that generates a signal that corresponds to a steering angle of the steered wheel; anda controlling apparatus comprising an angular acceleration limiter that corrects a target steering angle such that angular acceleration of the target steering angle is less than or equal to a limiting value, the controlling apparatus controlling the motor such that the steering angle tracks the corrected target steering angle based on information from the steering angle detecting portion,the controlling apparatus determining the angular acceleration of the target steering angle based on a difference between the uncorrected target steering angle and the corrected target steering angle.11. An automatic steering apparatus according to claim 10 , wherein:the steered wheel is steered in response to rotation of a steering shaft that is linked to a steering wheel;the automatic steering apparatus further comprises a torque detecting portion that detects steering torque to which the steering shaft is subjected; andthe controlling apparatus computes a vibration suppressing electric current by applying gain to information from the torque detecting portion, ...

ELECTRIC POWER STEERING SYSTEM

An electric power steering system includes steering a torque detector that detects steering torque, and a motor that provides assist torque based on the detected steering torque, wherein for the purpose of estimating, without detecting motor rotation angular information and rotation angular velocity information, the road reaction torque in which the influence of the motor inertia torque is eliminated, a value corresponding to rotation velocity of a steering shaft is calculated based on the steering torque and the assist torque, to calculate road reaction torque based on the value corresponding to the rotation velocity of the steering shaft. 16-. (canceled)7. An electric power steering system comprising:a steering torque detector that detects steering torque; anda motor that provides assist torque based on the detected steering torque;wherein a value corresponding to rotation velocity of a steering shaft is calculated based on the steering torque and the assist torque, to calculate road reaction torque based on the value corresponding to the rotation velocity of the steering shaft.8. The electric power steering system of claim 7 , wherein a rotation angle of the steering shaft is calculated based on the value corresponding to the rotation velocity of the steering shaft claim 7 , to calculate the road reaction torque based on the rotation angle.9. The electric power steering system of claim 7 , further comprising a vehicle speed detector that detects vehicle travel speed claim 7 , wherein the value corresponding to the rotation velocity of the steering shaft is calculated based on the steering torque claim 7 , the assist torque claim 7 , and vehicle speed detected by the vehicle speed detector claim 7 , to calculate the road reaction torque based on the value corresponding thereto.10. The electric power steering system of claim 7 , wherein friction of the steering shaft is calculated based on the value corresponding to the rotation velocity of the steering shaft claim ...

OSCILLATING ACTUATOR

An oscillating actuator comprising a shaft, arranged along an axis of oscillation of a housing, having both ends fixed to end walls provided at both ends of the housing; a movable element having a magnet adapted to pass the shaft therethrough and movable in an extending direction of the shaft and a weight arranged adjacent to the magnet in the extending direction of the shaft, adapted to pass the shaft therethrough, and movable integrally with the magnet; and an elastic member, arranged between the movable element and the end wall, for urging the movable element in the oscillation axis direction; wherein the coil comprises first and second coils wound annularly about the axis of oscillation and disposed in parallel with each other in the oscillation axis direction, the first and second coils having respective current flowing directions different from each other. 1. An oscillating actuator having a coil arranged within a tubular housing and a magnet arranged within the housing while being surrounded by the coil , the coil and the magnet cooperating with each other so that the magnet oscillates linearly along an axis of oscillation of the housing , the oscillating actuator comprising:a shaft, arranged along the axis of oscillation of the housing, having both ends fixed to end walls provided at both ends of the housing in the oscillation axis direction of the housing;a movable element having the magnet adapted to pass the shaft therethrough and movable in an extending direction of the shaft and a weight arranged within the housing adjacent to the magnet in the extending direction of the shaft, adapted to pass the shaft therethrough, and movable integrally with the magnet; andan elastic member, arranged between the movable element and the end wall, for urging the movable element in the oscillation axis direction;wherein the coil comprises first and second coils wound annularly about the axis of oscillation and disposed in parallel with each other in the oscillation axis ...

MOTOR CONTROLLER AND ELECTRIC POWER STEERING DEVICE USING THE SAME

Provided are a motor controller for suppressing a torque pulsation with a simple configuration and obtaining a sufficient output torque in the case of an open-type fault occurring in any one of windings of a motor and inverters, and an electric power steering device using the motor controller. In the motor controller for controlling a current supplied from and a voltage applied from a power source with respect to the motor including winding sets of a plurality of systems, when a fault determination unit () determines the occurrence of the open-type fault, the supply of the currents to the windings of one of the systems in which the fault has occurred is stopped by control performed on switching elements included in the inverter of the faulty system, whereas the supply of the currents to the windings of the normal system in which the fault has not occurred is continued. 1. A motor controller for controlling a current supplied from and a voltage applied from a power source with respect to a motor including a plurality of systems of winding sets , each of the winding sets including a plurality of phases of windings , the motor controller comprising:inverters of the plurality of systems, each of the inverters including a plurality of switching elements for controlling voltages applied to the respective plurality of phases of the winding sets of the plurality of systems, so as to control currents supplied from the power source to the respective plurality of phases of the winding sets of the plurality of systems; andcurrent control means for generating a plurality of sets of voltage commands corresponding to the applied voltages respectively for the inverters of the plurality of systems, so as to control the currents to be caused to flow in the respective plurality of phases of the winding sets of the plurality of systems, wherein:the current control means includes fault determination means for detecting one of disconnection of any one of wirings in the plurality of ...

VIBRATION ACTUATOR

A cylindrical magnet of an oscillating actuator includes a plurality of divided magnet portions which are magnetized in the radial direction. Since adjacent magnet portions have different poles in the direction of an oscillation axis, magnetic poles do not repel each other when adhering the magnet portions and it is thus easy to adhere the magnet portions to each other. In addition to this construction of the magnet, a coil includes a plurality of divided coil portions corresponding to the magnet portions in the direction of the oscillation axis, and adjacent coil portions are wound in opposite directions to each other. 1. An oscillating actuator in which a magnet linearly oscillates along an oscillation axis of a housing having a cylindrical shape by cooperation between a coil disposed in the housing and the magnet disposed in the housing while being surrounded by the coil , the oscillating actuator comprising:a shaft which is disposed along the oscillation axis of the housing and has opposite ends fixed to opposite end walls of the housing in a direction of the oscillation axis, respectively;a mover having the magnet which is freely movable in an extending direction of the shaft, the shaft extending through the magnet; andan elastic member disposed between the mover and one of the end walls, the elastic member urging the mover in the direction of the oscillation axis,wherein the shaft and the housing are formed of a magnetic material,the magnet having a cylindrical shape includes a plurality of magnet portions which are magnetized in a radial direction and are divided in the direction of the oscillation axis, and the magnet portions include adjacent magnet portions having different magnetic poles in the direction of the oscillation axis, andthe coil includes a plurality of coil portions which are divided in the direction of the oscillation axis and correspond to the magnet portions, respectively, and the coil portions include adjacent coil portions wound in ...

STEERING CONTROL DEVICE, AND STEERING CONTROL METHOD

Provided are a steering control device and a steering control method therefor, which reduce a steering feeling of discomfort due to a pulsed change (short abrupt change) in steering assist torque caused when control such as steering wheel return control is turned on/off, and which acquire a sufficient control effect even when high control response is required, by reducing a fluctuation in steering assist torque caused when one steering assist torque is selected from two or more steering assist torques by low-pass filtering, and by correcting the low-pass filtering depending on a change amount of the selected steering assist torque. 1. A steering control device , comprising:an actuator for applying a steering assist torque to a steering system of a vehicle;a steering state determination section for determining a steering state of a driver;a steering assist torque calculation section for calculating the steering assist torque;a steering assist torque correction section for correcting the steering assist torque depending on a result of the steering state determination section; andan actuator control section for controlling the actuator depending on the corrected steering assist torque,wherein the steering assist torque calculation section calculates at least a first steering assist torque, which is to be applied to the actuator in order to improve return characteristics of the steering system, and a second steering assist torque that is smaller than the first steering assist torque, a switch section for selecting and switching, depending on the result of the steering state determination section, one steering assist torque from among at least the first steering assist torque and the second steering assist torque; and', 'a filtering section for suppressing an abrupt change in steering assist torque at a time of the switching, which is caused by a difference between both the steering assist torques,, 'wherein the steering assist torque correction section compriseswherein ...

Steering control device, and steering control method

Provided are a steering control device and the like, including the steps of: calculating a steering assist torque to be applied to an actuator for applying the steering assist torque to a steering system of a vehicle in order to improve return characteristics of the steering system; determining a steering state of a driver; correcting the steering assist torque depending on a result of the steering state determination; and controlling the actuator depending on the corrected steering assist torque, in which the step of determining a steering state of a driver includes determining the steering state of the driver based on a combination of at least two of the following: a manually-operating steering state determination; an abrupt steering wheel return determination; a high-acceleration steering wheel return determination; a manual return steering determination; and an additional-steering determination.

ELECTRONIC DEVICE AND POINTING DEVICE CONTROL METHOD

According to one embodiment, an electronic device includes an input, an output and a controller. The input receives operation information corresponding to an operation of a pointing device. The output outputs an image to be displayed on a display. The controller sets a plurality of divisional areas on a screen of the display in accordance with a resolution of the display, and moves a mouse pointer in units of a divisional area of the plurality of divisional areas in accordance with the operation information. 1. An electronic device comprising:an input configured to receive operation information corresponding to an operation of a pointing device;an output configured to output an image to be displayed on a display; and set a plurality of divisional areas on a screen of the display in accordance with a resolution of the display, and', 'move a mouse pointer in units of a divisional area of the plurality of divisional areas in accordance with the operation information., 'a controller configured to2. The electronic device of claim 1 , wherein the controller is further configured to set the plurality of divisional areas claim 1 , based on data indicative of an enlargement ratio of an object displayed on the display.3. The electronic device of claim 2 , wherein the controller is further configured to:determine whether setup of the plurality of divisional areas is enabled, based on the resolution and the enlargement ratio; andset the plurality of divisional areas when the setup is enabled.4. The electronic device of claim 2 , wherein the controller is further configured to:calculate a division number of the plurality of divisional areas, based on the resolution and the enlargement ratio; andset the plurality of divisional areas in accordance with the division number.5. The electronic device of claim 1 , wherein the controller is further configured to make a speed for moving the mouse pointer in units of the divisional area to be higher than a speed for moving the mouse ...

STEERING CONTROL APPARATUS

Based on the result of determination by a friction transition state determination unit, an assist command value correction unit corrects a basic assist command value in such a way that the hysteresis width of steering torque at a time of turning steering increases; then, a current driving unit controls a motor current in such a way that the motor current coincides with a current command value obtained by correcting the basic assist command value by use of an assist command correction value. 1. A steering control apparatus comprising:a steering torque detector to detect steering torque of a steering mechanism steered by a driver of a vehicle;a vehicle-speed detector to detect a vehicle speed of the vehicle;an acceleration value detector to detect an acceleration value of the vehicle;a motor that provides steering auxiliary power to the steering mechanism;a steering-axle reaction torque calculator to detect or calculate steering-axle reaction torque that acts on a steering axle of the steering mechanism;a basic assist command value calculator to calculate a basic assist command value, as a current command value for a motor current to be supplied to the motor, based on at least steering torque detected by the steering torque detector and a vehicle speed detected by the vehicle-speed detector,a friction transition state determiner to determine a transition state of friction torque that acts on the steering mechanism, based on the steering-axle reaction torque;an assist command value corrector to calculate an assist command correction value for correcting the basic assist command value in such a way that a hysteresis width of steering torque at a time of turning steering is increased, based on the result of determination by the friction transition state determiner; anda current driver to receive a current command value obtained by correcting the basic assist command value by use of the assist command correction value and to control the motor current in such a way that ...

TRAVEL DIRECTION ESTIMATION DEVICE

A travel direction estimation device mounted on a vehicle including a position detector and an angular velocity detector to estimate a travel direction of the vehicle includes: a first angle processor calculating a first angle based on a change of a position of the vehicle being detected in the position detector and updated at a predetermined time interval, a second angle processor calculating a second angle based on a rotational angular velocity of the vehicle being detected in the angular velocity detector and a detection interval of the position of the vehicle in the position detector, and a travel direction processor calculating the travel direction of the vehicle based on the first angle and the second angle. The travel direction estimation device can estimate a travel direction of a vehicle with a high degree of accuracy. 1. A travel direction estimation device being mounted on a vehicle including a position detector and an angular velocity detector to estimate a travel direction of the vehicle , comprising:a first angle processor calculating a first angle based on a change of a position of the vehicle being detected in the position detector and updated at a predetermined time interval;a second angle processor calculating a second angle based on a rotational angular velocity of the vehicle being detected in the angular velocity detector and an update interval of the position of the vehicle being detected in the position detector; anda travel direction processor calculating the travel direction of the vehicle based on the first angle and the second angle, wherein{'sub': c', 'c, 'the second angle processor calculates the second angle θby a calculation of θ=(γ×T)/2 using the rotational angular velocity γ and the update interval T.'}26-. (canceled)7. The travel direction estimation device according to claim 1 , whereinthe second angle processor adjusts a measure of the second angle based on an acceleration rate of the vehicle being detected by an acceleration ...

COLLISION AVOIDANCE APPARATUS

Provided is a collision avoidance apparatus that can avoid a collision through both steering and braking. In a collision avoidance apparatus, a no-entry zone defining unit defines a no-entry zone for preventing a subject vehicle from colliding with an obstacle around the subject vehicle, based on obstacle information including information on a position of the obstacle and based on lane information that is information on a traveling lane of the subject vehicle. A following determination unit determines whether the obstacle is an avoidance target or a following target, based on the position of the obstacle or a position of the no-entry zone. A constraint establishing unit establishes a constraint on a state quantity or a control input of the subject vehicle to prevent the subject vehicle from at least entering the no-entry zone. 1. A collision avoidance apparatus , comprising:a processor to execute a program; anda memory to store the program which, when executed by the processor, performs processes of:defining a no-entry zone for preventing a subject vehicle from colliding with an obstacle around the subject vehicle, based on obstacle information including information on a position of the obstacle and based on lane information that is information on a traveling lane of the subject vehicle;making a following determination on whether the obstacle is an avoidance target or a following target, based on the position of the obstacle or a position of the no-entry zone;establishing a constraint on a state quantity or a control input of the subject vehicle to prevent the subject vehicle from at least entering the no-entry zone;setting an evaluation function for evaluating at least a route following error and a speed following error as evaluation items so that a degree of evaluation increases as the route following error is smaller and the speed following error is smaller, the route following error being an error in a predicted route with respect to a target route of the ...

Automatic steering control apparatus and automatic steering control method

An automatic steering control apparatus includes a target-path acquisition unit that acquires a target path that is to be a traveling path of the vehicle, a target-rudder-angle acquisition unit that acquires a target rudder angle that is to be a rudder angle in the vehicle, on the basis of the target path, a sideslip-angle estimation unit that estimates a sideslip angle in the vehicle that is traveling at the target rudder angle, on the basis of the target rudder angle and a vehicle condition of the vehicle, and an automatic steering control unit. The automatic steering control unit performs at least one of stopping of automatic steering control and controlling of a steering-quantity regulation gain for regulating the target rudder angle, when the estimated sideslip angle is equal to or greater than a predetermined value.

Power steering adjustment device

When an adjustment information input unit ( 1 ) acquires one of information of a feeling value and steering control information, a steering control information calculation unit ( 2 ) calculates data of a control characteristic graph visually representing control characteristics of steering using the acquired information. An adjustment information display unit ( 3 ) displays, on the same screen, a control characteristic graph in accordance with the data of the control characteristic graph and a feeling value operation section visually showing the feeling value.

VEHICLE STEERING CONTROL APPARATUS

Provided is a vehicle steering control apparatus having high robustness while ensuring the accuracy of automatic parking in a vehicle equipped with an automatic parking assistance system. 1. A vehicle steering control apparatus comprising:a traveling direction detector for detecting a traveling direction of an own vehicle;a steering angle detector for detecting an actual steering angle of the own vehicle;an own vehicle position attitude angle computing module to calculate an own vehicle position and an own vehicle attitude angle from a reference point based on a vehicle signal from the own vehicle;an obstacle detector for detecting an obstacle around the own vehicle including a parked vehicle and outputting an obstacle detection result;a target parking position computing module to calculate a target parking position from the obstacle detection result;a target line computing module to calculate a target parking line passing through the target parking position based on an own vehicle target parking attitude calculated from the target parking position and an attitude of the parked vehicle;a gain computing module to calculate a target attitude angle calculation gain and a target curvature calculation gain based on the obstacle detection result and the target parking position or the own vehicle position;an own vehicle position target attitude angle computing module to calculate an own vehicle position target attitude angle based on the traveling direction, the own vehicle position, the target parking line, and the target attitude angle calculation gain;an own vehicle position target curvature computing module to calculate an own vehicle position target curvature based on the own vehicle position, the own vehicle attitude angle, the target parking line, the target curvature calculation gain, and the own vehicle position target attitude angle; and 'wherein control is performed such that the own vehicle travels with the own vehicle position target attitude angle so as to be ...

Linear vibration motor

A thin linear vibration motor that suppresses the occurrence of operating noise. A linear vibration motor has a stationary element; a movable element that is supported elastically, so as to enable vibration along an axial direction, on the stationary element; and a driving portion causing the movable element to undergo reciprocating vibration along the axial direction, through the provision of a coil on the stationary element, the provision of a driving magnet on the movable element, and the application of an electric current to the coil while the driving magnet is attracted by magnetic material (supporting plate) that is provided on the stationary element side of the coil, wherein: the stationary element is provided with a stationary magnet that is magnetized in a direction that is perpendicular to the axial direction; and the movable element is provided with a movable magnet that opposes, while repelling, the stationary magnet.

VEHICLE POSITION PROCESSING APPARATUS, VEHICLE CONTROL APPARATUS, VEHICLE POSITION PROCESSING METHOD, AND VEHICLE CONTROL METHOD

To provide a vehicle position processing apparatus, a vehicle control apparatus, a vehicle position processing method, and a vehicle control method capable of increasing the number of the position information of front object used for generation of the trajectory and improving the generation accuracy of the trajectory. A vehicle position processing apparatus, a vehicle control apparatus, a vehicle position processing method, and a vehicle control method that obtains positions of a target object, sets a trajectory generation range which is a continuous range including a position of the target object close to a position of the present own vehicle, selects positions of the target object included in the trajectory generation range among the plural positions of the target object, as target object positions for trajectory generation, and generates a trajectory of the target object based on the target object positions for trajectory generation. 1. A vehicle position processing apparatus comprising at least one processor configured to implement:a target object position acquisitor that obtains positions of a target object;a data selector for trajectory generation that sets a trajectory generation range which is a continuous range including a position of the target object close to a position of a present own vehicle, and selects positions of the target object included in the trajectory generation range among plural positions of the target object, as target object positions for trajectory generation; anda trajectory generator that generates a trajectory of the target object based on the target object positions for trajectory generation.2. The vehicle position processing apparatus according to claim 1 ,wherein the data selector for trajectory generation sets the trajectory generation range to a continuous range, which includes position of the target object close to a position of front and back direction of the present own vehicle and in which an absolute value of angle of change ...

VEHICLE DRIVING ASSISTANCE APPARATUS AND VEHICLE DRIVING ASSISTANCE METHOD

This vehicle driving support device includes: a state acquisition device configured to acquire a detection result from a state detector configured to detect a travel state and a steering state of a vehicle; a target path information acquisition device configured to acquire target path information indicating a path on which the vehicle is to travel; a prediction device configured to predict a deviation of a position of the vehicle from the target path information, and a twist amount of the steering shaft; and a calculator configured to calculate a target amount of a steering controller configured to control the motor based on the deviation of the position of the vehicle from the target path information and the twist amount of the steering shaft so as to reduce the twist amount of the steering shaft. 1: A vehicle driving support device , comprising:a state acquisition device configured to acquire a detection result from a state detector configured to detect a travel state and a steering state of a vehicle;a target path information acquisition device configured to acquire target path information indicating a path on which the vehicle is to travel;a prediction device configured to use a vehicle motion model describing a motion of the vehicle, and a steering-shaft motion model describing a motion of a steering shaft configured to couple a steering wheel and a motor configured to support steering of the vehicle to each other, to thereby predict a deviation of a position of the vehicle from the target path information, and a twist amount of the steering shaft; anda calculator configured to calculate a target amount of a steering controller configured to control the motor based on the deviation of the position of the vehicle from the target path information and the twist amount of the steering shaft so as to reduce the twist amount of the steering shaft, an evaluator configured to calculate a cost function formed of the deviation of the position of the vehicle from the ...

LINEAR VIBRATION MOTOR

A linear vibration motor is provided with a frame, a weight, and a plate spring , and is also provided with weight side drive members disposed within a through hole in the weight and attached with the through hole space along the direction of vibration therebetween, and a frame side drive member supported by the frame and disposed so as to pass through the through hole space. The plate spring has a frame side seating part A attached to the frame, a weight side seating part attached to an end surface of the weight, and an elastic deformation part that elastically deforms between the frame side seating part and the weight side seating part. The weight side drive members are disposed so as to protrude from the end surface of the weight in the range of the thickness of the plate spring 1. A linear vibration motor comprising:a frame;a weight that has an end face that is perpendicular to a direction of linear vibration and that also has a through hole, in the center portion thereof, along the direction of vibration;a leaf spring that is attached between the frame and the end face of the weight;a weight-side driving member, provided within the through hole, having, therein, a through space along the direction of vibration; anda frame-side driving member, supported on the frame, and provided passing through the through space, wherein:the weight-side driving member is provided protruding from the end face of the weight in the range of a plate thickness of the leaf spring; andthe weight is caused to vibrate, along the direction of vibration, by a driving force generated between the weight-side driving member and the frame-side driving member.2. THE linear vibration motor as set forth in claim 1 , wherein:the leaf spring has a frame-side seat part that is attached to the frame, a weight-side seat part that is attached to the end face of the weight, and an elastically deformable part that undergoes elastic deformation, between the frame-side seat part and the weight-side seat ...

STEERING CONTROL DEVICE

A steering control device includes a transverse gradient estimator configured to estimate a transverse gradient of a road surface on which a vehicle travels; an assisting amount calculator configured to calculate a first assisting amount based on the transverse gradient; a low pass filter configured to perform a low pass filter processing for the first assisting amount, and output the processed first assisting amount subjected to the low pass filter processing, as a second assisting amount; and a motor controller configured to control a motor that generates a steering assist torque, using the second assisting amount. The low pass filter switches a cut-off frequency of the low pass filter between a first cut-off frequency and a second cut-off frequency that is set to a value higher than the first cut-off frequency, depending on whether the second assisting amount increases with time or the second assisting amount decreases with time. 1. A steering control device comprising:a transverse gradient estimator configured to estimate a transverse gradient of a road surface on which a vehicle travels;an assisting amount calculator configured to calculate a first assisting amount based on the transverse gradient estimated by the transverse gradient estimator;a low pass filter configured to perform a low pass filter processing for the first assisting amount calculated by the assisting amount calculator, and output the first assisting amount subjected to the low pass filter processing, as a second assisting amount; anda motor controller configured to control a motor that generates a steering assist torque, using the second assisting amount output by the low pass filter,wherein the low pass filter switches a cut-off frequency of the low pass filter between a first cut-off frequency and a second cut-off frequency that is set to a value higher than the first cut-off frequency, depending on whether the second assisting amount increases with time or the second assisting amount ...

LINEAR VIBRATION MOTOR

A linear vibration motor wherein the amplitude along the direction of thickness is limited, and wherein vibration is produced with a large thrusting force while securing adequate mass in the weight. The linear vibration motor comprises: a coil that is supported over a bottom plate that faces a top face portion of a case, and that is wound along a plane that is perpendicular to the bottom plate; a magnetic pole portion that is able to produce a thrusting force in the vertical direction through an electric current that flows in the coil; a weight that vibrates integrally with the magnetic pole portion; and an elastic member that supports the weight on the top face portion of the case so as to enable vertical vibration. 1. A linear vibration motor comprising:a case having a top face portion;a bottom plate that faces the top face portion;a coil supported over the bottom plate and wound along a plane that is perpendicular to the bottom plate;a magnetic pole element producing a thrusting force in the vertical direction through an electric current that flows in the coil;a weight that vibrates together with the magnetic pole element; andan elastic member for supporting the weight so as to enable vibration in the vertical direction.2. The linear vibration motor as set forth in claim 1 , wherein: the bottom side outer peripheral surface of the coil is secured to a cradle portion over the bottom plate.3. The linear vibration motor as set forth in claim 1 , wherein:the top side outer peripheral surface of the coil is secured to the top face portion of the case.4. The linear vibration motor as set forth in claim 1 , wherein:the coil is provided with a top side straight portion and a bottom side straight portion that are essentially parallel, along the top face portion; and a pair of first magnets, having the top side straight portion therebetween, and having first lines of magnetic force that are perpendicular to the top side straight portion;', 'a pair of second magnets, having ...

VEHICLE STEERING DEVICE AND VEHICLE STEERING CONTROL METHOD

Provided are a vehicle steering device and the like, which are capable of converging a lateral displacement at a forward gazing-point distance to a target travel line with simple control. A target travel line for a vehicle to travel by following a travel path recognized from an image taken by a camera or the like is set. A lateral speed, which is a change amount of the lateral displacement that is a difference between a position of the target travel line at the forward gazing-point distance and a position of the vehicle, is controlled so that the lateral displacement is reduced. A target steering angle is calculated based on the lateral speed, and a steering angle of the vehicle is controlled based on the calculated target steering angle. 1. A vehicle steering device , comprising:a travel path recognition section for recognizing a travel path on which a vehicle travels;a target travel line setting section for setting a target travel line used by the vehicle to travel while following the travel path;a lateral displacement calculation section for detecting a lateral displacement, which is a difference between a position of the target travel line and a position of the vehicle at a forward gazing-point distance of the vehicle;a target steering angle calculation section for calculating a target steering angle so as to reduce the lateral displacement; anda steering control section for controlling a steering angle of the vehicle based on the target steering angle calculated by the target steering angle calculation section,wherein the target steering angle calculation section controls a lateral speed, which is a change amount of the lateral displacement, so as to reduce the lateral displacement, and calculates the target steering angle based on the lateral speed.2. The vehicle steering device according to claim 1 , further comprising:a vehicle state amount detection section for detecting a vehicle state amount of the vehicle; anda yaw rate detection section for detecting a ...

TARGET TRACK GENERATION APPARATUS, VEHICLE CONTROL APPARATUS, TARGET TRACK GENERATION METHOD, AND VEHICLE CONTROL METHOD

In a target track generation apparatus (), a preceding vehicle position acquisition unit () acquires a relative position of a preceding vehicle. A subject vehicle state quantity acquisition unit () acquires a state quantity of a subject vehicle. A subject vehicle movement amount calculator () calculates a movement amount of the subject vehicle, based on the state quantity of the subject vehicle. A subject vehicle reference preceding vehicle position calculator () calculates a point group of subject vehicle reference preceding vehicle positions representing a history of the relative position of the preceding vehicle in a coordinate system using a current position of the subject vehicle as a reference, based on the relative position of the preceding vehicle and the movement amount of the subject vehicle. A target track generator () generates a target track of the subject vehicle, based on the point group of the subject vehicle reference preceding vehicle positions. A target track correction determination unit () determines whether or not correction of the target track is necessary, based on the point group of the subject vehicle reference preceding vehicle positions or the target track. A correction target track generator () generates a correction target track obtained by correcting the target track, based on the point group of the subject vehicle reference preceding vehicle positions or the target track, when it is determined that correction of the target track is necessary. 1. A target track generation apparatus comprising:a processor to execute a program; anda memory to store the program which, when executed by the processor, performs processes of:acquiring a relative position of a preceding vehicle traveling in front of a subject vehicle;acquiring a state quantity of the subject vehicle;calculating a movement amount of the subject vehicle, based on the state quantity of the subject vehicle;calculating a point group of subject vehicle reference preceding vehicle ...

MOVING OBJECT DETECTOR, VEHICLE CONTROL SYSTEM, METHOD FOR DETECTING MOVING OBJECT, AND METHOD FOR CONTROLLING VEHICLE

Provided is a moving object detector capable of acquiring a position history of a moving object that is less affected by the behavior of a subject vehicle. In a moving object detector, a moving-object relative position acquiring unit acquires position coordinates of a moving object expressed in a subject-vehicle-based coordinate system that is based on the position of a subject vehicle. A subject-vehicle state quantity acquiring unit acquires the state quantity of the subject vehicle. A coordinate converter generates a history of position coordinates of the moving object expressed in a moving-object-based coordinate system that is based on the position of the moving object, on the basis of the position coordinates of the moving object expressed in the subject-vehicle-based coordinate system, and the state quantity of the subject vehicle. 1. A moving object detector comprising:a processor to execute a program; anda memory to store the program which, when executed by the processor, performs processes of,acquiring position coordinates of a moving object expressed in a subject-vehicle-based coordinate system that is based on a position of a subject vehicle,acquiring a state quantity of the subject vehicle, andgenerating a history of position coordinates of the moving object expressed in a moving-object-based coordinate system that is based on a position of the moving object, on the basis of the position coordinates of the moving object expressed in the subject-vehicle-based coordinate system, and the state quantity of the subject vehicle.2. The moving object detector according to claim 1 , wherein the state quantity of the subject vehicle includes a travel speed of the subject vehicle claim 1 , and a yaw rate or yaw angle of the subject vehicle.3. The moving object detector according to claim 1 , wherein the processor further determines effectiveness of newly acquired position coordinates of the moving object claim 1 , by comparing position coordinates of the moving ...

Steering control device, and steering control method

Provided is a steering control device, including: an actuator for applying a steering assist torque to a steering system of a vehicle; a vehicle turning state detection section for detecting a state amount representing a turning state of the vehicle; a steering-holding determination section for determining a steering-holding state of the steering system; a storing section for storing, when the steering-holding determination section determines that the steering system is in the steering-holding state, the state amount detected by the vehicle turning state detection section as a steering-holding determination state amount; a steering assist torque calculation section for calculating the steering assist torque based on an absolute value of the steering-holding determination state amount; and an actuator control section for controlling the actuator based on the calculated steering assist torque.

Steering control device

In an electrical power steering apparatus, steering shaft reaction torque is estimated by a steering shaft reaction torque estimation unit, and a reference road reaction torque is estimated by a reference road reaction torque estimation unit. The estimated steering shaft reaction torque and the reference road reaction torque are weighted, and in response, a target steering reaction torque is set by a target steering reaction torque generation unit, hysteresis width and slope of the target steering reaction torque are respectively adjusted, and steering feeling is thereby easily improved.

Sliding door structure for automobile

A sliding door structure of a vehicle is provided for sliding a door body with respect to an opening portion of a vehicle body in forward and rearward directions of the vehicle body for opening and closing. The sliding door structure includes a rail disposed on the door body and aligned with the forward and rearward directions of the vehicle body. An arm protrudes from an edge portion on a door opening direction side of the opening portion of the vehicle body, and is configured to engage with the rail to hold the door body movably in the forward and rearward directions. The arm includes an arm side engagement portion configured to engage with a vehicle body side engagement portion disposed proximate to the edge portion of the door opening direction side of the opening portion of the vehicle body. The arm connects between the edge portion on the door opening direction side of the opening portion of the vehicle body and the rail and is configured to rise and fall in a width direction of the vehicle and is configured to push the door body outward beyond an outside plate of the vehicle body at a beginning of the opening of the door body. The door body is able to slide in the door opening direction after engagement between the vehicle body side engagement portion and the arm side engagement portion when the arm pushes the door body outwardly in the width direction of the vehicle.

Steering control device, and steering control method

Steering control device

Based on the result of determination by a friction transition state determination unit, an assist command value correction unit corrects a basic assist command value in such a way that the hysteresis width of steering torque at a time of turning steering increases; then, a current driving unit controls a motor current in such a way that the motor current coincides with a current command value obtained by correcting the basic assist command value by use of an assist command correction value.

Steering control device

Automatic steering device

Steering control device, and steering control method

Provided are a steering control device and a steering control method therefor, which reduce a steering feeling of discomfort due to a pulsed change (short abrupt change) in steering assist torque caused when control such as steering wheel return control is turned on/off, and which acquire a sufficient control effect even when high control response is required, by reducing a fluctuation in steering assist torque caused when one steering assist torque is selected from two or more steering assist torques by low-pass filtering, and by correcting the low-pass filtering depending on a change amount of the selected steering assist torque.

Vibration actuator

A cylindrical magnet of an oscillating actuator includes a plurality of divided magnet portions which are magnetized in the radial direction. Since adjacent magnet portions have different poles in the direction of an oscillation axis, magnetic poles do not repel each other when adhering the magnet portions and it is thus easy to adhere the magnet portions to each other. In addition to this construction of the magnet, a coil includes a plurality of divided coil portions corresponding to the magnet portions in the direction of the oscillation axis, and adjacent coil portions are wound in opposite directions to each other.

emergency evacuation device

【課題】緊急退避の際、他車両と衝突しない適切な位置に自車両を停められる緊急退避装置を得る。【解決手段】緊急退避装置１は、道路情報取得部３により、自車両の進行方向前方の道路形状を取得し、また、路側情報受信部２により、道路に設けられた非常駐車帯に配置された路側機との路車間通信により、非常駐車帯周辺の状況を受信して、道路情報取得部３により受信された道路形状および路側情報受信部２により受信された非常駐車帯周辺の状況に基づき、停止位置決定部４が、自車両を停める位置を決定するようにした。【選択図】図１

Steering controller

A steering controller that accurately extracts pulsating components caused by cogging torque or torque ripple to reduce pulsation. Pulsating components are extracted using a bandpass filter with variable time constant, and the time constant is set up according to the frequency of cogging torque or torque ripple that is a target of extraction. Further, a reference angle relative to a motor rotation angle is preset according to the order of harmonic generation frequency of cogging torque or torque ripple, and the time constant of the bandpass filter is set up from a time required for the motor to rotate by the reference angle.

Electric power-steering controller

An electric power-steering controller eliminates steering components from a dynamic state quantity such as a rotation speed signal using a small-amplitude filter for filtering small-amplitude components, and accurately extracts only vibration components which are smaller than the steering components in amplitude, thereby reducing the vibration components through a control operation.

Movable body detection device, vehicle control system, movable body detection method, and vehicle control method

【課題】自車の挙動の影響が少ない移動体の位置の履歴を取得可能な移動体検出装置を提供する。【解決手段】移動体検出装置１において、移動体相対位置取得部１２は、自車の位置を基準にする自車基準座標系で表された移動体の位置座標を取得する。自車状態量取得部１１は、自車の状態量を取得する。座標変換部１３は、自車基準座標系で表された移動体の位置座標および自車の状態量に基づいて、移動体の位置を基準にする移動体基準座標系で表された移動体の位置座標の履歴を生成する。【選択図】図１

Biometric authentication device and information processing device

【課題】 生体認証装置における認証処理において、撮像した複数の生体画像を用いて生体の汚れや表皮のシワ等の不要情報を画像から除去する際、誤った静脈情報の除去により、認証率が低下してしまうことがある。 【解決手段】 ピントの位置が異なる生体画像を複数撮像し、一の生体画像に生体の汚れや表皮のシワ等の不要情報が存在するか否かを判定し、シワや汚れ等の不要情報が存在すると判定した場合、他の生体画像を使用して生体認証を行う。 【選択図】図５

Filtration device

【課題】微生物培養液のろ過液を微生物培養槽外へ排出するために使用されるポンプの動力を小さくするとともに、微生物培養液に含まれる懸濁物質がろ過体の表面に強固に付着することを抑制し、洗浄の負担や頻度を低減することができるろ過装置を提供する。【解決手段】微生物培養液１１を収容した微生物培養槽１０内に設置されるろ過装置１であって、微生物培養液１１をろ過する平均孔径が１μｍ以上１ｍｍ以下の複数の細孔を有するろ過体であって、ろ過された微生物培養液１１のろ過液を収容するろ過体２と、ろ過体２に収容された前記ろ過液を前記微生物培養槽１０外に排出するろ過液排出部３と、を備え、ろ過体２は、その上端部２ａが前記微生物培養液１１の液面よりも上方に位置するように、微生物培養液１１に浸漬される。【選択図】図１

Electric power steering device

Obstacle avoidance apparatus and obstacle avoidance route generating apparatus

Provided is an obstacle avoidance apparatus that can specify a distance between a subject vehicle and an obstacle when making the subject vehicle avoid the obstacle. An obstacle avoidance apparatus includes: an obstacle movement predictor that predicts movement of the obstacle; and a constraint generator that establishes a constraint on a state quantity or a control input of the subject vehicle by determining whether to steer right or left around the obstacle and defining a no-entry zone for preventing the subject vehicle from colliding with the obstacle. The constraint generator incorporates, into the no-entry zone, an area to the left of the obstacle when determining to steer right around the obstacle, and incorporates, into the no-entry zone, an area to the right of the obstacle when determining to steer left around the obstacle.

Fahrspurerkennungsvorrichtung und fahrspurerkennungsverfahren

Bereitstellung einer Fahrspurerkennungsvorrichtung und eines Fahrspurerkennungsverfahrens, die eine Verschlechterung der Erkennungsgenauigkeit der Trennlinie der eigenen Fahrspur unterdrücken können, selbst wenn das eigene Fahrzeug die Trennlinie durch Fahrspurwechsel überquert und sich die Korrespondenzbeziehung zwischen der eigenen Fahrspur und der Trennlinie ändert. Eine Fahrspurerkennungsvorrichtung und ein Fahrspurerkennungsverfahren erfasst Trennlinieninformationen über Trennlinien einer oder einer Vielzahl von Fahrspuren, die vor dem eigenen Fahrzeug erkennbar sind und die eigene Fahrspur und die benachbarte Fahrspur enthalten; erfasst Fahrzeugbewegungsinformationen; wandelt die Trennlinieninformationen zu der Vielzahl von Zeitpunkten jeder Trennlinie in die Trennlinieninformationen der aktuellen Positionsbasis zu der Vielzahl von Zeitpunkten jeder Trennlinie auf der Grundlage von Fahrzeugbewegungsinformationen um; bestimmt eine Korrespondenzbeziehung zwischen der eigenen Fahrspur und jeder Trennlinie; speichert die Trennlinieninformation jeder Trennlinie durch Korrelation mit der Korrespondenzbeziehung; und schätzt Schätztrennlinieninformation, die eine Trennlinieninformation ist, basierend auf der Trennlinieninformation der aktuellen Positionsbasis zu der Vielzahl von Zeitpunkten.

Aluminum alloy foil

An aluminum alloy foil having a composition contains Si: 0.5 mass % or less, Fe: 0.2 mass % or more and 2.0 mass % or less, Mg: 0.1 mass % or more and 1.5 mass % or less, and Al balance containing inevitable impurities, and if desired, Mn is regulated to 0.1 mass % or less in the inevitable impurities, and preferably, the tensile strength is 110 MPa or more 180 MPa or less, the elongation is 10% or more, and the average crystal grain diameter is 25 μm or less.

Fahrzeuglenksteuervorrichtung

Eine Fahrzeuglenksteuervorrichtung, umfassend:einen Fahrtrichtungs-Detektor (11) zum Detektieren einer Fahrtrichtung eines eigenen Fahrzeugs (1);einen Lenkwinkel-Detektor (12) zum Detektieren eines tatsächlichen Lenkwinkels des eigenen Fahrzeugs (1);ein Fahrzeugposition-Schwimmwinkel-Berechnungsmodul (13) zum Berechnen einer Position des eigenen Fahrzeugs (1) und eines Schwimmwinkels des eigenen Fahrzeugs (1) von einem auf einem Fahrzeugsignal des eigenen Fahrzeugs (1) basierenden Referenzpunkt (CN1, CN2) ;einen Hindernisdetektor (14) zum Detektieren eines Hindernisses um das eigene Fahrzeug (1), umfassend ein geparktes Fahrzeug (2), und zum Ausgeben eines Hindernisdetektionsergebnisses;ein Ziel-Parkposition-Berechnungsmodul (15) zum Berechnen einer Ziel-Parkposition (112) aus dem Hindernisdetektionsergebnis;ein Ziellinien-Berechnungsmodul (16) zum Berechnen einer durch die Ziel-Parkposition (112) hindurchgehenden Zielparklinie (111), basierend auf einer aus der Ziel-Parkposition (112) und einer Stellung des geparkten Fahrzeugs (2) berechneten Zielparkstellung des eigenen Fahrzeugs (1);ein Verstärkungsberechnungsmodul (17) zum Berechnen einer Zielschwimmwinkel-Berechnungsverstärkung und einer Zielbiegung-Berechnungsverstärkung, basierend auf dem Hindernisdetektionsergebnis und der Ziel-Parkposition (112) oder der Position des eigenen Fahrzeugs (1);ein Fahrzeugposition-Zielschwimmwinkel-Berechnungsmodul (18, 180) zum Berechnen eines auf der Fahrtrichtung, der Position des eigenen Fahrzeugs (1), der Ziel-Parklinie (111) und der Zielschwimmwinkel-Berechnungsverstärkung des eigenen Fahrzeugs (1) basierenden Position-Zielschwimmwinkels des eigenen Fahrzeugs (1);ein Fahrzeugposition-Zielbiegungs-Berechnungsmodul (19) zum Berechnen einer auf der Position, dem Fahrzeug-Schwimmwinkel, der Ziel-Parklinie (111), der Zielbiegung-Berechnungsverstärkung und dem Position-Zielschwimmwinkel des eigenen Fahrzeugs (1) basierenden Position-Zielbiegung des eigenen Fahrzeugs (1); undeine ...

Steering control apparatus

In the control of an electric power steering apparatus, where so-called lead steering control is performed in which a steering wheel angle signal is output through a lead filter to correct reaction delay of a driver and a vehicle, a delay in control response occurs due to feedback of a road surface reaction force torque. When road surface reaction force torque is fed back to the steering wheel, it is added through a low-pass filter having a time constant equal to a reaction delay time constant of a driver. A sum signal is output through a lead filter to a second motor for controlling a steering shaft.

Steering control device

A steering control device includes a transverse gradient estimator configured to estimate a transverse gradient of a road surface on which a vehicle travels; an assisting amount calculator configured to calculate a first assisting amount based on the transverse gradient; a low pass filter configured to perform a low pass filter processing for the first assisting amount, and output the processed first assisting amount subjected to the low pass filter processing, as a second assisting amount; and a motor controller configured to control a motor that generates a steering assist torque, using the second assisting amount. The low pass filter switches a cut-off frequency of the low pass filter between a first cut-off frequency and a second cut-off frequency that is set to a value higher than the first cut-off frequency, depending on whether the second assisting amount increases with time or the second assisting amount decreases with time.

Traveling route generation apparatus and traveling route generation method

To provide a travel route generation apparatus and a travel route generation method which can generate a travel route for changing lanes with good accuracy using the newest lane marking information obtained during lane change. A travel route generation apparatus and a travel route generation method, during lane change of the own vehicle, determines whether or not the lane marking information of each lane marking is effective lane marking information which can be used for generation of a lane change travel route which is a travel route for changing lanes; selects a reference lane marking from the lane marking on the left side and the lane marking on the right side of an own lane, based on an effectiveness determination result; and generates a lane change travel route, based on the lane marking information of the reference lane marking.

Target track generation apparatus, vehicle control apparatus, target track generation method, and vehicle control method

In a target track generation apparatus, a subject vehicle reference preceding vehicle position calculator calculates a point group of subject vehicle reference preceding vehicle positions representing a history of a relative position of a preceding vehicle in a coordinate system using a current position of a subject vehicle as a reference. A target track generator generates a target track of the subject vehicle, based on the point group of the subject vehicle reference preceding vehicle positions. A correction target track generator generates a correction target track obtained by correcting the target track, based on the point group of the subject vehicle reference preceding vehicle positions or the target track, when it is determined that correction of the target track is necessary.

硬質箔用アルミニウム合金、アルミニウム合金硬質箔、リチウムイオン二次電池正極集電体用アルミニウム合金箔およびアルミニウム合金硬質箔の製造方法

【課題】生産性を損なうことなく、高い引張強度と伸び特性を有し、リチウムイオン二次電池正極集電体用アルミニウム合金箔などに利用可能なアルミニウム合金硬質箔を得る。【解決手段】質量％で、Ｆｅ：１．００〜１．７０％、Ｍｎ：０．１０〜０．５０％を含有し、残部がＡｌおよび不可避不純物からなり、Ｃｕ、Ｍｇ、Ｃｒ、Ｚｒの合計量が０．０５％以下、ＦｅおよびＭｎの総量が２．０％以下であり、好適にはＦｅ／Ｍｎ比が３．５以上である組成を有するアルミニウム合金に、仕上り温度が２００〜２９０℃の熱間圧延、冷間圧延、最終冷間圧延を行い、熱間圧延後から最終冷間圧延後までの圧下率、冷間圧延途中に中間焼鈍を行う場合は中間焼鈍後から最終冷間圧延後までの圧下率を９０．０〜９９．９％にして箔厚さ５〜２０μｍとすることで、製造時の加工軟化を利用して、高い引張強度と伸び特性とを有するアルミニウム合金硬質箔を効率よく製造することができる。【選択図】なし

Aluminum alloy foil

Aluminum alloy foil

Ｐｔｐ用アルミニウム箔

【課題】内容物の取り出し性を損なうことなく、エンボス部での亀裂の発生を防止したＰＴＰ用アルミニウム箔を提供する。 【解決手段】プレススルーパッケージ（ＰＴＰ）において樹脂製フィルムにシールされるＰＴＰ用アルミニウム箔は、Ｆｅ：０．２質量％〜１．４質量％、Ｃｕ：０．０１質量％〜０．１０質量％含有し、残部がＡｌと不可避不純物からなり、０．２％耐力が１４０ＭＰａ以上、伸びが１．０％以上であり、Ｆｅの含有量は０．３質量％〜０．７質量％が好ましい。 【選択図】 なし

走行支援装置および走行支援方法

【課題】本発明は、センサのオフセットまたは外乱に起因する車両の目標経路に対する横方向偏差を低減することを目的とする。【解決手段】走行支援装置１２Ａは、車両の目標経路を生成する目標経路生成部４２と、車両の走行位置を検知する走行位置検知部４３と、現在または前方注視点における車両の走行位置と目標経路との横方向偏差である第１横方向偏差の積分量である第１横方向偏差積分量を演算する第１演算部４４と、第１横方向偏差積分量に基づき車両の操舵量を演算する第２演算部４５と、車両の動きを制御する制御部１５に車両の操舵量を出力する操舵量出力部４６と、を備える。【選択図】図３

振動アクチュエータ

【課題】本発明は、マグネットのラジアル方向の単磁極着磁を確実且つ容易にし、筐体の径を小さくするような小型化の促進が容易である振動アクチュエータを提供する。【解決手段】振動アクチュエータ１の筒状のマグネット４は、ラジアル方向に着磁されて振動軸線方向に複数に分割されたマグネット部４Ａ，４Ｂからなり、隣接するマグネット部４Ａ，４Ｂは、振動軸線Ｌ方向において極が異なっているので、接合させる際に極同士の反発が起こらず、マグネット部４Ａ，４Ｂ同士を接合させ易い。マグネット４をこのように構成させることに伴って、コイル３は、振動軸線Ｌ方向においてそれぞれのマグネット部４Ａ，４Ｂに対応して複数に分割されたコイル部３Ａ，３Ｂからなり、隣接するコイル部３Ａ，３Ｂの巻線の巻き方向を逆にしている。【選択図】図２

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Steering control device

A steering control device is provided with at least one of a first torque correction computing part and a second torque correction computing part; wherein the first torque correction computing part is equipped with a weight computing part which computes an increment of weight based on a magnitude of the driver torque, and accumulates the increment of weight to generate a weight, a clip value computing part which computes an automatic driver torque clip value according to the weight, and a clip processing part which clip processes the automatic driver torque with the automatic driver torque clip value; and the second torque correction computing part is equipped with a gain computing part which computes an increment of gain according to the driver torque, and accumulates the increment of gain to generate a gain, and a gain processing part which outputs an automatic driver torque multiplied by the gain.

モータ

【課題】ロータの位置推定の正確度が向上したモータを提供する。【解決手段】一実施形態に係るモータが備えるロータは、磁性体によって形成されたロータコア３１と、ロータコア３１上に、ロータの回転方向に沿って並べられた複数の磁石３３ａ～３３ｊと、共通の実装面４１ａ上に配置され、磁石３３ａ～３３ｊの磁界を検出可能な複数のホール素子と、を有する。ロータの中心軸の方向を上下方向としたとき、磁石３３ａ～３３ｊの実装面４１ａに対する高さｈａ～ｈｊが不均一である。【選択図】図６

走行車線認識装置及び走行車線認識方法

【課題】周囲監視装置の検出状態が良い場合でも、検出した区画線情報の信頼性が悪い場合に対応できるように、検出した区画線情報の信頼度を判定し、自動運転に用いる区画線情報を適切に設定することができる走行車線認識装置及び走行車線認識方法を提供する。【解決手段】周囲監視装置の検出情報に基づいて自車両の走行車線の検出区画線情報を取得し、地図データから取得した道路情報に基づいて自車両の走行車線の地図区画線情報を取得し、検出区画線情報の変動に基づいて、検出区画線情報の信頼度を判定し、検出区画線情報の信頼度に基づいて、検出区画線情報及び地図区画線情報から、自動運転に用いる区画線情報を選択し、自動運転用の区画線情報を算出する走行車線認識装置。【選択図】図１

アルミニウム合金箔

【課題】成形性に優れたアルミニウム合金箔を提供する。【解決手段】アルミニウム合金箔は、Ｆｅ：０．８質量％以上１．８質量％以下、Ｓｉ：０．０１質量％以上０．１５質量％以下、Ｃｕ：０．００１質量％以上０．０５質量％以下を含有し、不可避不純物中のＭｎ：０．０１質量％以下に規制し、残部がＡｌおよびその他の不可避不純物からなる組成を有し、平均ＫＡＭ値が０．５０°以下である。【選択図】なし

アルミニウム合金箔

【課題】箔の伸びを確保しつつ、良好な成形性を有するアルミニウム合金箔を提供する。【解決手段】Ｆｅ：０．８質量％以上１．８質量％以下、Ｓｉ：０．０１質量％以上０．１５質量％以下、Ｃｕ：０．００１質量％以上０．０５質量％以下を含有し、不可避不純物のＭｎを０．０１質量％以下に規制し、残部がＡｌとその他の不可避不純物からなる組成を有し、塑性加工前の算術平均粗さをＲ０、塑性加工後の算術平均粗さをＲａ、塑性加工時のひずみをεとしたとき、塑性加工に伴う表面あれの増加割合αが下式を満たすアルミニウム合金箔。α＝（Ｒａ－Ｒ０）／ε≦０．０２【選択図】図１

走行経路生成システム及び車両運転支援システム

【課題】障害物周囲の回避領域を用いて目標走行経路を設定する走行経路生成システムにおいて、たとえ車両が回避領域に進入しても目標走行経路を適切に設定する。【解決手段】走行経路生成システムを含む車両運転支援システム１００は、カメラ２１及びレーダ２２による走行路情報及び障害物情報に基づき複数の走行経路候補を設定し、これらを評価関数によって評価することで目標走行経路を設定する。ＥＣＵ１０は、車両１が回避領域４２に進入しない走行経路候補だけでなく、車両１が回避領域４２に進入する走行経路候補も設定する。回避領域４４に進入する走行経路候補は、回避領域４４に進入しない走行経路候補よりも、評価関数による評価の度合いが悪くなり、更に、回避領域４４に進入する走行経路候補では、回避領域４４への車両１の進入量が大きくなるほど、評価関数による評価の度合いが悪くなる。【選択図】図８

Fahrweg-Erzeugungsvorrichtung und Fahrweg-Erzeugungsverfahren

Bereitstellen einer Fahrweg-Erzeugungsvorrichtung und eines Fahrweg-Erzeugungsverfahrens, die einen Fahrweg für einen Fahrspurwechsel mit guter Genauigkeit unter Verwendung der neuesten Fahrspurmarkierungsinformationen, die während eines Fahrspurwechsels beschafft werden, erzeugen können. Eine Fahrweg-Erzeugungsvorrichtung (10) und ein Fahrweg-Erzeugungsverfahren bestimmt während des Fahrspurwechsels des eigenen Fahrzeugs, ob die Fahrspurmarkierungsinformation jeder Fahrspurmarkierung eine effektive Fahrspurmarkierungsinformation ist oder nicht, die für die Erzeugung eines Fahrwegs für einen Fahrspurwechsel verwendet werden kann, der ein Fahrweg für einen Fahrspurwechsel ist; wählt auf Grundlage eines Effektivitäts-Bestimmungsergebnisses eine Referenzfahrspurmarkierung aus der Fahrspurmarkierung auf der linken Seite und der Fahrspurmarkierung auf der rechten Seite einer Eigenfahrspur aus; und erzeugt einen Fahrweg für einen Fahrspurwechsel, basierend auf der Fahrspurmarkierungsinformation der Referenzfahrspurmarkierung.

ステアリング制御装置

【課題】 電動パワーステアリング装置の制御において、運転者の反応遅れを補正する為、ハンドル角度信号を進めフィルターを介して出力させる、いわゆる微分ハンドル制御を行った場合に、路面反力トルクのフィードバツクのため制御応答の遅れが生じてしまうという課題があった。 【解決手段】 路面反力トルクＳＡＴをハンドル１０５にフィードバツクして加算するとき、運転者の反応遅れ時定数ｔ １ に等しい時定数を持つローパスフィルター２０２ｃを経由して、加算する。加算された信号は進めフィルター２０２ｂを介して操向軸を制御する第２のモータへ出力する。 【選択図】図２

操舵制御装置及び操舵速度検出方法

【課題】オフセット誤差を含まない操舵速度を得る。 【解決手段】電流センサ９による電流及び電圧センサ１０による電圧の検出値に基づいて第１の操舵速度を求め、操舵角度の検出値に基づいて第１の操舵速度の補正値を演算し、当該補正値を用いて第１の操舵速度を補正して操舵速度として出力する操舵速度演算部１２と、当該操舵速度に基づいて、操舵系を中立位置に戻すための第１の操舵補助トルクを求める第１の操舵補助トルク演算部１５と、トルクセンサ５による運転者の操舵トルクに基づいて、運転者の操舵をアシストするための第２の操舵補助トルクを求める第２の操舵補助トルク演算部１７と、第１及び第２の操舵補助トルクに基づいてモータを駆動するための電流駆動器１９とを備える。 【選択図】図２

Steering control system

A steering control device includes a transverse gradient estimator configured to estimate a transverse gradient of a road surface on which a vehicle travels; an assisting amount calculator configured to calculate a first assisting amount based on the transverse gradient; a low pass filter configured to perform a low pass filter processing for the first assisting amount, and output the processed first assisting amount subjected to the low pass filter processing, as a second assisting amount; and a motor controller configured to control a motor that generates a steering assist torque, using the second assisting amount. The low pass filter switches a cut-off frequency of the low pass filter between a first cut-off frequency and a second cut-off frequency that is set to a value higher than the first cut-off frequency, depending on whether the second assisting amount increases with time or the second assisting amount decreases with time.

Evakuierungsfahrt-assistenzvorrichtung, evakuierungsfahrt-assistenzverfahren, evakuierungsfahrt-assistenzprogramm und speichermedium

Eine Fahrerzustands-Bestimmungseinheit 11 bestimmt, ob ein Fahrer fahrtauglich ist, auf Basis der Fahrerzustands-Information. Eine Erkennungseinheit 13 erfasst Wirtsfahrzeug-Umgebungsinformation, einschließlich Wirtsfahrzeug-Positionsinformation, die eine Position eines Wirtsfahrzeugs angibt. Eine Erfassungseinheit 12 ermittelt Basiskarteninformation auf Basis von Karteninformation. Eine Erzeugungseinheit 14 erfasst Umgebungsumweltinformation, die Umgebungspositions-Information beinhaltet, die eine Position einer Seitenwand eines Evakuierungspunkts, und Information, die eine Trennlinie eines Fahrpfads angibt, und erzeugt gemessene Karteninformation für die Seitenwand auf Basis der Umgebungspositions-Information. Wenn die Bestimmungseinheit bestimmt, dass die Fahroperation durch den Fahrer nicht durchgeführt werden kann, berechnet eine Korrektur-Erzeugungseinheit 15 einen Korrekturwert, welcher durch Multiplizieren einer Differenz zwischen einer Distanz von der Fahrzentrumslinie zur Seitenwand, welche die Seitenwand des Evakuierungspunkts in der Basiskarteninformation beinhaltet, und einer Distanz von der Fahrzentrumslinie des Wirtsfahrzeugs zur Seitenwand, welche die Seitenwand des Evakuierungspunkts in der gemessenen Karteninformation beinhaltet, mit einer Zuverlässigkeit ≤ 1 ermittelt wird, und erzeugt korrigierte Karteninformation. Eine Routen-Erzeugungseinheit 16 erzeugt eine Evakuierungs-Fahrroute mit dem Evakuierungspunkt als Zielpunkt. Eine Fahrzeugsteuereinheit gibt einen Geschwindigkeitsbefehl zum Durchführen einer Geschwindigkeits- und Lenksteuerung auf Basis der erzeugten Evakuierungs-Fahrroute aus.

Evacuation travel assistance device, evacuation travel assistance method, and non-transitory computer readable recording medium

A surrounding environment information generating unit acquires surrounding position information indicating a measured position of a side wall including a side wall of an evacuation spot, and generates measured map information for the side wall using the surrounding position information. When driving operation by a driver cannot be performed, a corrected map information generating unit calculates a correction value obtained by multiplying a difference between a distance from a traveling center line of a host vehicle to the side wall in base map information and that in the measured map information by a reliability, and generates corrected map information obtained by applying the correction value to the base map information. A route generating unit generates an evacuation travel route with the evacuation spot as a destination using the corrected map information. A vehicle control unit outputs a vehicle speed command for the host vehicle using the evacuation travel route.

退避走行支援装置、退避走行支援方法、退避走行支援プログラム、及び記録媒体

【課題】地図情報と実際の退避地点との間にズレが生じていたとしても、車両を自動走行させて退避地点に精度高く停止させ得る退避走行支援装置を提供する。【解決手段】運転者状態判定部１１が運転者による運転操作が実施不可能であると判定すると、補正地図情報生成部１５が、地図情報取得部１２が得たベース地図情報における自車両の走行中心線から退避地点の側壁を含む側壁までの距離と周辺環境情報生成部１４が生成した測定地図情報に基づいて補正値を算出し、地図情報取得部が得たベース地図情報に補正値を適用した補正地図情報を生成し、経路生成部１６が、自車環境認識部１３が取得した自車位置情報と補正地図情報生成部が生成した補正地図情報を用いて退避地点を目的地点とした退避走行経路を生成し、車両制御部１７が、経路生成部が生成した退避走行経路を基に退避走行を行う自車両の速度制御及び操舵制御を行う車速指令を出力する。【選択図】図１

運転支援装置及び運転支援方法

【課題】狭路において安定な走行を支援する運転支援装置を提供する。【解決手段】本開示の運転支援装置２００は、自車位置情報取得部２１０と、周辺環境情報取得部２３０と、地図情報取得部２２０と、周辺環境情報に基づき狭路情報を検出できるか否かを判定する狭路検出判定部２４０と、自車位置情報及び地図情報に基づき狭路が直線形状であるか否かを判定し、狭路情報が取得できる場合は狭路情報に基づき狭路が直線形状か否かを判定する直線形状判定部２５０と、狭路情報に基づき狭路が直線形状であると判定された場合は自車位置情報及び地図情報を用いて第一狭路走行経路並びに狭路情報を用いて第二狭路走行経路をそれぞれ算出し、両者の差分値が閾値経路差分値以下である場合は第一狭路走行経路を狭路走行経路とする走行経路算出部２６０と、狭路走行経路に沿った走行を支援する運転支援制御部２７０とを備える。【選択図】図１

電動パワーステアリング制御装置

【課題】操舵速度に応じた操舵感を向上させた電動パワーステアリング制御装置を得ること。 【解決手段】操舵トルクを検出する操舵トルク検出器と、操舵速度を検出する操舵速度検出部と、少なくとも１つの極である低域極および少なくとも２つの零点である中間零点を有する伝達関数の演算を操舵トルク検出器が検出した操舵トルクに対して行うことによって電流指令を出力する補償演算部と、操舵速度に応じて低域極または２つの中間零点の特性を変化させる伝達関数変更部と、電流指令に前記モータの電流が一致するようモータの制御を行う電流制御部と、を備える。 【選択図】 図２

インバータ装置、モータモジュール及び車両

【課題】パワーモジュールをシールドしつつも、構造が簡単で組立作業性のよいインバータ装置を提供する。【解決手段】インバータ装置２０は、直流を交流に変換する１以上のスイッチング素子を有するパワーモジュール１００、パワーモジュールに重なるように配置されスイッチング素子を駆動する駆動回路基板２００、駆動回路基板に重なるように配置され、駆動回路基板と電気的に接続し、スイッチング素子のオンオフを制御する制御回路基板４００及び駆動回路基板を覆うように駆動回路基板と制御回路基板の間に配置され、駆動回路基板から発生する電磁波ノイズを遮蔽する遮蔽板と３００を備える。パワーモジュールは、駆動回路基板及び遮蔽板に向かって垂直に突出する少なくとも２本の第１位置決めピン１１０、１２０を有する。駆動回路基板及び遮蔽板は、夫々、各第１位置決めピンと夫々係合する少なくとも２つの貫通孔２０６、２０８、３０６、３０８を有する。【選択図】図３

Optimal-lösung-berechnungsvorrichtung für ein optimierungsproblem und optimal-lösung-berechnungsverfahren für ein optimierungsproblem

Eine Optimal-Lösung-Berechnungsvorrichtung für ein Optimierungsproblem berechnet eine Lösung für ein eingegebenes Optimierungsproblem über die Verarbeitung durch eine Aktualisierungseinheit. Die Optimal-Lösung-Berechnungsvorrichtung für ein Optimierungsproblem umfasst eine Anfangsbedingungs-Erzeugungseinheit zum Erzeugen einer ausführbaren Anfangslösung und einer Gleichheits-Beschränkungsmenge in Bezug auf ein Optimierungsproblem, eine Optimierungs-Berechnungseinheit zum Berechnen einer Lösung einer simultanen linearen Gleichung, die aus einer Bewertungsfunktion erzeugt wird, und zum Berechnen einer bewerteten Lösung, die eine Lösung zum Minimieren oder Maximieren der Bewertungsfunktion ist, und die Aktualisierungseinheit. Eine Konvergenzbestimmungseinheit der Optimierungsberechnungseinheit bestimmt, dass eine iterative Lösung konvergiert hat, wenn eine Restnorm gleich oder kleiner als ein Konvergenzbestimmungsschwellenwert ist, der ein größerer von einem voreingestellten ersten Schwellenwert und einem zweiten Schwellenwert ist, der auf der Basis eines Relaxationsparameters und einer anfänglichen Restnorm eingestellt ist, und die iterative Lösung, für die bestimmt wurde, dass sie konvergiert hat, als die bewertete Lösung ausgibt. Die Aktualisierungseinheit bestimmt die bewertete Lösung als optimale Lösung, wenn eine Aktualisierung des Gleichheitsrestriktionssatzes als unnötig befunden wird und der Schwellenwert für die Konvergenzbestimmung der erste Schwellenwert ist, und gibt die optimale Lösung als eine Ausgabelösung aus, die eine Lösung des Optimierungsproblems ist.

Optimal solution calculation device for optimization problem and optimal solution calculation method for optimization problem

An optimal solution calculation device for an optimization problem includes an initial condition generation unit for generating an executable initial solution and an equality constraint set with respect to an optimization problem, an optimization calculation unit for calculating a solution of a simultaneous linear equation generated from an evaluation function and for calculating an evaluated solution that is a solution to minimize or maximize the evaluation function, and an update unit. A convergence determination unit of the optimization calculation unit determines that an iterative solution has converged when a residual norm is equal to or less than a convergence determination threshold value, and outputs the converged iterative solution as the evaluated solution. The update unit determines the evaluated solution as an optimal solution when an update of the equality constraint set is determined to be unnecessary, and the convergence determination threshold value is the first threshold value.

Vehicle control apparatus and vehicle control method

To provide a vehicle position processing apparatus, a vehicle control apparatus, a vehicle position processing method, and a vehicle control method capable of increasing the number of the position information of front object used for generation of the trajectory and improving the generation accuracy of the trajectory. A vehicle position processing apparatus, a vehicle control apparatus, a vehicle position processing method, and a vehicle control method that obtains positions of a target object, sets a trajectory generation range which is a continuous range including a position of the target object close to a position of the present own vehicle, selects positions of the target object included in the trajectory generation range among the plural positions of the target object, as target object positions for trajectory generation, and generates a trajectory of the target object based on the target object positions for trajectory generation.

蓄電デバイス集電体用孔開き金属箔及びその製造方法と電極及び該電極を備えた電池

【課題】本発明は、物理的な加工法でありながら、加工時の金属片発生を抑制することができる蓄電デバイス集電体用の孔開き金属箔及びその製造方法の提案を目的とする。【解決手段】本発明の蓄電デバイス集電体用孔開き金属箔は、長辺／短辺で規定されるアスペクト比１０以上のスリット状の貫通孔が複数各々の長さ方向を揃えて箔本体に形成されたことを特徴とする。前記箔本体が帯状であり、その長さ方向に前記複数の貫通孔の長さ方向が揃えられ、前記貫通孔の開口部周縁にバリが形成されたことが好ましい。前記貫通孔の長辺側の開口部周縁に前記貫通孔のスリット幅の１／２より長いバリが形成されたことが好ましい。【選択図】図１

Fahrzeugrelativpositionsberechnungsvorrichtung und Fahrzeugregelvorrichtung

Diese Fahrzeugrelativpositionsberechnungsvorrichtung umfasst: eine Fahrzeugzustandsinformationserfassungseinheit (211) zum Erfassen von Zustandsinformationen eines eigenen Fahrzeugs während der Fahrt; eine Umgebungsobjektinformationserfassungseinheit (212) zum Erfassen von Informationen eines Umgebungsobjekts um das eigene Fahrzeug herum; eine Relativpositionsinformationskonvertiereingabeeinheit (215), an die Relativpositionsinformationen, d.h, Relativpositionsinformationen des Umgebungsobjekts um das eigene Fahrzeug herum relativ zu dem eigenen Fahrzeug, die aus den Zustandsinformationen des eigenen Fahrzeugs, die von der Fahrzeugzustandsinformationserfassungseinheit (211) erfasst werden, und den Informationen des Umgebungsobjekts, die von der Umgebungsobjektinformationserfassungseinheit (212) erfasst werden, eingegeben werden, und die die eingegebenen Relativpositionsinformationen in Relativpositionsinformationen konvertiert, für die eine bestimmte Position auf dem eigenen Fahrzeug als ein Ursprung eingestellt wird; eine Positionsinformationsspeichereinheit (214), die die von der Relativpositionsinformationskonvertierausgabeeinheit (215) konvertierte Relativpositionsinformation speichert; und eine Fahrzeugfixierkoordinatekonvertiereinheit (213), in die die von der Fahrzeugzustandsinformationserfassungseinheit (211) erfasste Zustandsinformation des eigenen Fahrzeugs eingegeben wird, und die die in der Positionsinformationsspeichereinheit (214) gespeicherte Relativpositionsinformation in eine Relativpositionsinformation zur gegenwärtigen Zeit konvertiert, die eine Relativpositionsinformation zu einer gegenwärtigen Zeit ist, und die die Relativpositionsinformation zur gegenwärtigen Zeit an die Positionsinformationsspeichereinheit (214) ausgibt.

自動車の側部構造

【課題】 車体側方から入力した荷重をピラーに効率よく伝達し、車体側方からの荷重入力の初期段階から車体の強度を高めることができる自動車の側部構造を提供すること。 【解決手段】 車体Ｓの側面に設けられたフロントドア開口（ドア開口）Ｋ１を開閉するフロントドア（ドア）１と、フロントドア開口Ｋ１の後縁を形成するセンタピラー（ピラー）４と、フロントドア１が閉じたときにこのフロントドア１とセンタピラー４との間に車幅方向の間隙を形成した状態でこのフロントドア１をセンタピラー４に係止させるラチェット６、ストローク７（ドア係止手段）とを備えた自動車の側部構造であって、フロントドア１の開閉に連動して移動し、フロントドア１を閉める際のオーバーストロークを許容可能に設けられ、且つ、フロントドア１を閉じた後に車幅方向においてフロントドア１とセンタピラー４とにそれぞれ当接する荷重伝達部材１０をセンタピラー４に設けた。 【選択図】図２

Steuervorrichtung für Fahrzeug-Außen-Benachrichtigung, Fahrzeug-Außen-Benachrichtigungs-Steuersystem und Verfahren für Fahrzeug-Außen-Benachrichtigung

Problem: Bereitstellen einer Fahrzeug-Außen-Benachrichtigungstechnik, die in der Lage ist, zu einem reibungslosen Verkehr an einem Fußgängerüberweg beizutragen, an dem eine Person und eine Vielzahl von Fahrzeugen durchlaufen/fahren werden.Lösung: Eine Fahrzeug-Außen-Benachrichtigungs-Steuereinrichtung, die eine Personen-Erfassungseinheit umfasst, um eine Person zu erfassen, die sich in der Nähe eines Fußgängerüberwegs in Fahrtrichtung eines ersten Fahrzeugs befindet, auf der Grundlage von Informationen, die von einer Umgebungsfahrzeug-Erfassungseinheit ausgegeben werden, um Informationen in der Umgebung des ersten Fahrzeugs zu erfassen, eine Personen-Erfassungseinheit, um zu erfassen, ob die Person die Absicht hat, den Fußgängerüberweg vor dem ersten Fahrzeug zu überqueren oder nicht, eine Fahrzeug-Steuereinheit zum Ausführen einer Anhaltesteuerung, um das erste Fahrzeug in einem Fall anzuhalten, in dem erfasst wird, dass die Person die Absicht hat, den Fußgängerüberweg vor dem ersten Fahrzeug zu überqueren, eine Umgebungsfahrzeug-Erfassungseinheit zum Erfassen eines zweiten Fahrzeugs, das sich in der Nähe des ersten Fahrzeugs befindet, auf der Grundlage von Informationen, die von der Umgebungs-Informations-Erfassungseinheit ausgegeben werden, und eine Fahrzeugbenachrichtigungs-Anweisungseinheit zum Ausgeben eines Fahrzeugbenachrichtigungs-Befehls, um dem zweiten Fahrzeug in einem Fall, in dem die Anhaltesteuerung ausgeführt wird, eine Mitteilung zu machen.

Vehicle-exterior-notification control device, vehicle-exterior-notification control system, and vehicle-exterior-notification control method

A vehicle-exterior-notification control device includes processing circuitry to detect a person present around a crosswalk present in a traveling direction of a first vehicle on a basis of information output from a surrounding information detecting device to detect information around the first vehicle, to detect whether or not the person has an intention to cross the crosswalk before the first vehicle, a vehicle control unit to execute stop control to stop the first vehicle in a case where it is detected that the person has an intention to cross the crosswalk before the first vehicle, to detect a second vehicle present around the first vehicle on a basis of information output from the surrounding information detecting device, and to issue a vehicle-notification instruction for making a notification to the second vehicle in a case where the stop control is executed.

振動致動器

本發明的課題為提供防止異常聲音的產生，獲得穩定振動的振動致動器。其解決手段為在振動致動器(1)的第1錘部(6)，設置有從實心頭部(22b)的端部朝振動軸線(L)方向突出，並在第1壓縮盤簧(21)內插入沿著振動軸線(L)方向延伸的中空部(S1)內的內側擴大部(23)。該內側擴大部(23)的外圍面(23a)是從基端側朝向遊動端側，連續成以振動軸線(L)為中心的小直徑。亦即，內側擴大部(23)是呈截錐體形。並且，該內側擴大部(23)被插入於第1壓縮盤簧(21)的中空部(S1)內，利用此中空部(S1)，變更內側擴大部(23)的振動軸線(L)方向的長度以獲得第1錘部(6)的質量的增減。