# US 9,434,404 B2 · Vehicle steering device

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- Number: US 9,434,404 B2
- Document ID: US9434404B2
- Status: Granted
- Kind: B2
- Application number: 14/635,372
- Filed: 2015-03-02
- Published: 2015-09-03
- Granted: 2016-09-06
- Earliest claimed: 2014-03-03
- Assignees: Honda Motor Co., Ltd. (Hgt)
- Applicants: Honda Motor Co., Ltd.
- Inventors: Toshikatsu Kuramochi
- Web page: https://patentgrep.com/patent/US9434404B2

## CPC

- B62D 5/003: {Backup systems, e.g. for manual steering (B62D5/30 takes precedence)}
- B62D 5/006: {power actuated}
- B62D 5/0484: {for reaction to failures, e.g. limp home}
- B62D 5/0487: {detecting motor faults (B62D5/0496 takes precedence)}
- 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 vehicle steering device includes a steering reaction force generating device having a steering reaction force motor; a steering device having a steering motor; a clutch device having an electromagnetic solenoid that sets the steering reaction force generating device and the steering device in a mechanically engaged or disengaged state; a current integrated value acquisition unit that obtains an integrated value of a current of one of the steering reaction force and steering motors; an overload state determination unit that determines whether or not the one motor is in an overload state based on the integrated value of the current supplied to the one motor, obtained by the current integrated value acquisition unit; and a drive control unit that controls driving of the electromagnetic solenoid to set the clutch device in an engaged state when the overload state determination unit determines that the one motor is in an overload state.

## Claims

### Claim 1

A vehicle steering device comprising:
a steering member for steering a vehicle wheel;
a steering reaction force motor capable of applying a steering reaction force to the steering member in response to a steering action of the steering member by a driver;
a steering motor that applies a steering force to steer the vehicle wheel in accordance with the steering action of the steering member in a state where the vehicle wheel is mechanically disengaged from the steering member;
a clutch device that has a switching actuator that mechanically engages or disengages the steering member and the vehicle wheel; and
a control device that:
obtains an instantaneous integrated value of a current supplied to one of the steering reaction force motor and the steering motor in a manner in which: (i) in a time period in which a current higher than a current threshold value flows through said one of the steering reaction force motor and steering motor, the current is integrated over time; and (ii) in a time period in which a current lower than or equal to the current threshold value flows through said one of the steering reaction force motor and steering motor, an integrated value of a current corresponding to a decrease in temperature in the time period is subtracted, wherein the current threshold value serves as a reference for determining whether or not said one of the steering reaction force motor and steering motor is heated without a need of a temperature sensor, wherein the instantaneous integrated value of the current is based on a value calculated by multiplying the current by a predetermined cycle time,
determines whether or not said one of the steering reaction force motor and the steering motor is in an overload state,
determines that said one of the steering reaction force motor and the steering motor is in the overload state when the instantaneous integrated value of the current supplied to said one of the steering reaction force motor and steering motor is higher than a predetermined threshold value, based on the instantaneous integrated value obtained by the control device,
controls the steering motor to steer the vehicle wheel in a manner that follows at least a target steering angle which is calculated based on the steering action of the steering member, and
controls the switching actuator of the clutch device to engage the steering member and the vehicle wheel when the control device determines that said one of the steering reaction force motor and steering motor is in the overload state.

### Claim 2 (depends on 1)

The vehicle steering device according to claim 1,
wherein the control device has steering modes which comprise:
a steer-by-wire mode in which the steering motor is driven to steer the vehicle wheel by an angle according to the steering action of the steering member by the driver and the steering reaction force motor is driven to apply the steering reaction force to the steering member according to the steering action of the steering member by the driver when the clutch device disengages the steering member and the vehicle wheel; and
an assist mode in which at least one of the steering reaction force motor and the steering motor is driven to reduce an operating torque required for the driver to operate the steering member when the clutch device engages the steering member and the vehicle wheel, wherein in the assist mode in which the clutch device engages the steering member and the vehicle wheel, the control device deactivates the steering reaction force motor and controls the steering motor to reduce the operating torque required for the driver to operate the steering member.

### Claim 3

A method of controlling a vehicle steering device, the method comprising:
driving a steering reaction force motor to apply a steering reaction force to a steering member of a vehicle in response to a steering action of the steering member applied by a driver;
driving a steering motor to apply a steering force to steer a vehicle wheel in accordance with the steering action of the steering member in a state where the vehicle wheel is mechanically disengaged from the steering member by controlling a switching actuator of a clutch device;
obtaining, by a control device, an instantaneous integrated value of a current supplied to one of the steering reaction force motor and the steering motor in a manner in which: (i) in a time period in which a current higher than a current threshold value flows through said one of the steering reaction force motor and steering motor, the current is integrated over time; and (ii) in a time period in which a current lower than or equal to the current threshold value flows through said one of the steering reaction force motor and steering motor, an integrated value of a current corresponding to a decrease in temperature in the time period is subtracted, wherein the current threshold value serves as a reference for determining whether or not the steering motor is heated without a need of a temperature sensor, wherein the instantaneous integrated value of the current is based on a value calculated by multiplying the current by a predetermined cycle time;
utilizing, by the control device, the instantaneous integrated value of the current supplied to said one of the steering reaction force motor and steering motor to determine whether or not said one of the steering reaction force motor and steering motor is in an overload state;
determining, by the control device, that said one of the steering reaction force motor and steering motor is in the overload state when the instantaneous integrated value of the current supplied to said one of the steering reaction force motor and steering motor is higher than a predetermined threshold value;
controlling, by the control device, the steering motor to steer the vehicle wheel in a manner that follows at least a target steering angle which is calculated based on the steering action of the steering member; and
controlling, by the control device, the switching actuator of the clutch device to engage the steering member and the vehicle wheel when the overload state of said one of the steering reaction force motor and steering motor is detected.