Vehicle steering apparatus, method and non-transitory computer readable medium

Patent metadata

Field	Value
Publication number	US-8977438-B2
Application number	US-201314074343-A
Country	US
Kind code	B2
Filing date	Nov 7, 2013
Priority date	Nov 13, 2012
Publication date	Mar 10, 2015
Grant date	Mar 10, 2015

Abstract

According to a relaxation length compensation torque computation section 54 of a vehicle steering apparatus 100, a relaxation length compensation torque is computed based on (1) a front wheel actual steering angular velocity computed from a motor rotation angular velocity input by a front wheel actual steering angular velocity computation section 52, and based on (2) a transfer function that is (a) expressed using a difference between a road surface reaction torque model and a referential reaction torque model and that is (b) determined according to a vehicle velocity input by a vehicle velocity sensor 20. A power steering controller 58 adds the relaxation length compensation torque to an assistance torque, and controls an EPS motor 3 so as to generate the assistance torque to which the relaxation length compensation torque has been added. The relaxation length compensation torque is thereby computed with good precision, enabling high handling performance to be achieved.

First claim

What is claimed is:

1. A vehicle steering apparatus comprising:
a vehicle velocity detection unit that detects a vehicle velocity;
a state amount detection unit that detects a front wheel actual steering angle state amount of a vehicle;
a computation unit that computes a relaxation length compensation torque based on
(1) a transfer function that is (a) expressed using a difference between a road surface reaction torque model that considers dynamic characteristics of tires acc…

Assignees

• Toyota Chuo Kenkyusho Kk

Inventors

• Ono Eiichi

Classifications

• B62D6/008

  Operations & Transport · mapped topic

• B62D6/006 Primary

  Operations & Transport · mapped topic