Jtekt Corporation

Mitsuko Yoshida

Naoki Shoji

Robert Fuchs

Tsutomu Tamura

A motor control unit includes: an assist torque command value generation unit that generates an assist torque command value using steering torque; a manual steering command value generation unit that generates a manual steering command value using the steering torque and the assist torque command value; an integrated angle command value calculation unit that calculates an integrated angle command value by adding the manual steering command value to an automatic steering command value; and a switching unit that switches between a first control for controlling an electric motor based on the assist torque command value and a second control for controlling the electric motor based on the integrated angle command value, based on a switching signal.

Motor control device

A steering angle calculation apparatus includes an electronic control unit configured to calculate a steering angle based on a torque caused by a driver and at least one of vehicle information, surrounding environment information, and driver information.

Steering angle calculation apparatus and motor control apparatus including the same

A motor controlling ECUincludes an automatic steering controllerthat sets an automatic steering control amount, an assist controllerthat sets an assist control amount, an integrated control amount calculating portionthat calculates an integrated control amount by adding the automatic steering control amount and the assist control amount, and an actual automatic steering angle calculating portionthat calculates, based on at least one of either of a steering torque and the assist control amount, an actual automatic steering angle that is a steering angle due to automatic steering control and included in an actual steering angle. The automatic steering controlleruses a target automatic steering angle and the actual automatic steering angle to set the automatic steering control amount.

A steering system includes an electric motor, a detector, and a controller of a vehicle. The controller is configured to control the electric motor by switching an autonomous steering mode, a manual steering mode, and a cooperative steering mode. The controller is configured to control the electric motor in the cooperative steering mode unconditionally or when a predetermined condition is satisfied in a case where a situation to switch a steering mode to the manual steering mode during control in the autonomous steering mode is predicted and a manual steering request is transmitted at a time point that is prior, by a first predetermined time, to occurrence of the situation, or is transmitted when the vehicle arrives at a point that is located a first predetermined distance before a point where the situation is to occur.

Steering system

A manual steering command value generation unit generates a manual steering command value using steering torque. An integrated angle command value computation unit computes an integrated angle command value by adding the manual steering command value to an automatic steering command value. A control unit performs angle control on an electric motor on the basis of the integrated angle command value. The control unit includes: a basic torque command value computation unit that computes a basic torque command value on the basis of the integrated angle command value; a disturbance torque estimation unit that estimates disturbance torque other than motor torque that is generated by the electric motor and acts on an object to be driven by the electric motor; and a disturbance torque compensation unit that corrects the basic torque command value in accordance with the disturbance torque.

Growing community of inventors

Nara, Japan

Mitsuko Yoshida