US 12,466,470 B2
Turning method and turning device
Taku Suzuki, Kanagawa (JP); Tomoaki Oida, Kanagawa (JP); Yuki Miyashita, Kanagawa (JP); Yuta Kaneko, Kanagawa (JP); and Noriki Kubokawa, Kanagawa (JP)
Assigned to Nissan Motor Co., Ltd., Kanagawa (JP)
Appl. No. 18/044,939
Filed by Nissan Motor Co., Ltd., Kanagawa (JP)
PCT Filed Oct. 9, 2020, PCT No. PCT/JP2020/038306
§ 371(c)(1), (2) Date Mar. 10, 2023,
PCT Pub. No. WO2022/074826, PCT Pub. Date Apr. 14, 2022.
Prior Publication US 2023/0286573 A1, Sep. 14, 2023
Int. Cl. B62D 5/04 (2006.01); B62D 6/00 (2006.01); B62D 15/02 (2006.01)
CPC B62D 5/0463 (2013.01) [B62D 6/00 (2013.01); B62D 15/021 (2013.01)] 10 Claims
OG exemplary drawing
 
1. A turning method for turning a steered wheel of a vehicle comprising:
detecting a steering angle of a steering wheel;
detecting an actual turning angle, the actual turning angle being an actual turning angle of the steered wheel;
calculating a target turning angle of the steered wheel according to the detected steering angle;
calculating a turning force command value to cause the actual turning angle to coincide with the target turning angle, based on a difference between the actual turning angle and the target turning angle;
delaying a phase of the target turning angle by adding an integral term of the target turning angle calculated according to the detected steering angle to a proportional term of the target turning angle;
delaying a phase of the turning force command value with respect to the detected steering angle by delaying the phase of the target turning angle calculated according to the detected steering angle; and
generating turning force to turn the steered wheel in accordance with the turning force command value having a phase delayed.