# US 12,214,833 B2 · Steer-by wire steering system

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- Number: US 12,214,833 B2
- Document ID: US12214833B2
- Status: Granted
- Kind: B2
- Application number: 17/893,249
- Filed: 2022-08-23
- Published: 2023-03-02
- Granted: 2025-02-04
- Earliest claimed: 2021-08-26
- Assignees: Toyota Jidosha Kabushiki Kaisha; Jtekt Corporation
- Applicants: Toyota Jidosha Kabushiki Kaisha; JTEKT Corporation
- Inventors: Kosuke Akatsuka; Yoshio Kudo; Takahito Ishino; Kenji Yoshida; Koji Anraku
- Web page: https://patentgrep.com/patent/US12214833B2

## CPC

- B62D 6/008: {Control of feed-back to the steering input member, e.g. simulating road feel in steer-by-wire applications}
- B62D 15/0205: {Mechanical indicators, e.g. in or near steering wheel}
- B62D 5/001: {Mechanical components or aspects of steer-by-wire systems, not otherwise provided for in this maingroup}
- B62D 5/006: {power actuated}
- B62D 15/025: {Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation (B62D1/28 takes precedence)}
- B62D 15/0285: {Parking performed automatically}
- B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M)

## Abstract

A steer-by-wire steering system for a vehicle, comprising: an operation member operable by a vehicle driver; an urging device configured to generate an urging force to urge the operation member; a steering device configured to steer a wheel; and a controller configured to control the urging device and the steering device. In a normal operation, the controller enables the wheel to be steered in accordance with an operation of the operation member and causes the urging force to function as an operation reaction force against the operation of the operation member. In an automatic steering operation in which the wheel is steered without depending on the operation of the operation member, the controller enables the operation member to be moved in accordance with steering of the wheel by the urging force and causes at least part of the urging force generated in the normal operation not to be generated.

## Claims

### Claim 1

A steer-by-wire steering system for a vehicle, comprising:
an operation member operable by a driver of the vehicle;
an urging device configured to generate an urging force to urge the operation member;
a steering device configured to steer a wheel that is not mechanically coupled to the operation member; and
a controller configured to control the urging device and the steering device,
wherein, in a normal operation, the controller enables the wheel to be steered in accordance with an operation of the operation member and causes the urging force to function as an operation reaction force against the operation of the operation member,
wherein, in an automatic steering operation in which the wheel is steered without depending on the operation of the operation member, the controller enables the operation member to be moved in accordance with steering of the wheel by the urging force and causes at least part of the urging force generated in the normal operation not to be generated, and
wherein the at least part of the urging force comprises a steering-load-dependent component as a component that is based on an axial force that acts on a steering rod or a rack bar and that includes a force that acts on the wheel from a road surface, the steering-load-dependent component acting in a direction opposite to an operation direction of the operation member.

### Claim 2 (depends on 1)

The steer-by-wire steering system according to claim 1, wherein the automatic steering operation is an operation of the steering system performed in automatic parking of the vehicle.

### Claim 3 (depends on 1)

The steer-by-wire steering system according to claim 1,
wherein the urging force includes a plurality of components, one of which is a positive-movement component for causing the operation member to positively move in accordance with the steering of the wheel, and
wherein the controller causes the positive-movement component to be generated only in the automatic steering operation and causes a non-generating component not to be generated in the automatic steering operation, the non-generating component being at least part of the plurality of components except for the positive-movement component.

### Claim 4 (depends on 3)

The steer-by-wire steering system according to claim 3, wherein the plurality of components includes an assist component for assisting the operation of the operation member by the driver, a compensation component for compensating an operation feeling of the operation member given to the driver, and a steering-load-dependent component that is based on a load of the steering device with respect to the steering of the wheel.

### Claim 5 (depends on 3)

The steer-by-wire steering system according to claim 3, wherein the controller gradually increases the positive-movement component when the automatic steering operation starts and gradually decreases the positive-movement component when the automatic steering operation ends.

### Claim 6 (depends on 3)

The steer-by-wire steering system according to claim 3, wherein the controller gradually decreases the non-generating component when the automatic steering operation starts.

### Claim 7 (depends on 3)

The steer-by-wire steering system according to claim 3, wherein, in the automatic steering operation, the controller keeps generating at least part of the non-generating component and adds, to the positive-movement component, a canceling component for canceling the at least part of the non-generating component.

### Claim 8 (depends on 7)

The steer-by-wire steering system according to claim 7, wherein the controller immediately stops generating both the canceling component and the at least part of the non-generating component when the automatic steering operation ends.

### Claim 9 (depends on 3)

The steer-by wire steering system according to claim 3, wherein the positive-movement component is determined according to a feedback control law based on a deviation of an actual operation amount of the operation member with respect to a target operation amount of the operation member, and an operation amount of the operation member corresponding to a steering amount of the wheel is determined as the target operation amount.