Electric power steering device

Abstract

Provided is an electric power steering device in which both assist control and steering angle control can be performed in such a manner as to enable a manual steering operation when automatic steeringis interrupted by a driver's manual steering operation so as to ensure increased safety during an emergency steering operation by the driver. This electric power steering device is provided with: a steering angle control unit that calculates a steering angle-controlling current command value for steering control on the basis of at least a steering angle command value and an actual steering angle;and a switchover determination / gradual gain generation unit that determines the steering state on the basis of determination of a manual input and then switches the steering state, wherein a currentcommand valve is calculated by at least the steering angle command value. Moreover, the steering angle control unit is provided with a filter unit, and a steering angle-controlling current command value is calculated on the basis of an extended steering angular velocity command value from the filter unit and an actual steering angular velocity. The switchover determination / gradual gain generationunit is provided with a manual input determination unit.

Description

technical field [0001] The present invention relates to an electric power steering apparatus that performs assist control and steering angle control of a steering system through drive control of an electric motor based on a current command value, and also enables automatic steering. In particular, the present invention relates to an electric power steering apparatus that is safe even if a driver performs steering intervention during automatic steering and that can reduce inconvenience to the driver. coordination. Background technique [0002] Electric Power Steering (EPS) that imparts steering assist force (assist torque) to the steering system of a vehicle using the rotational force of an electric motor, and uses the driving force of the electric motor as steering assist through a transmission mechanism such as a gear or a belt via a reduction mechanism Force is applied to the steering shaft or rack shaft. Such a conventional electric power steering apparatus performs fee...

AI Technical Summary

Problems solved by technology

[0011] In the case where assist control and steering angle control are performed independently, and the overall control is performed by switching command values ​​that are outputs from both, if switching is performed suddenly by a switch or the like, the command value suddenly fluctuates, Causes the steering wheel to behave unnaturally, which may give the driver a sense of incongruity

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