# US 10,370,029 B2 · Steering control apparatus > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,370,029 B2 - Document ID: US10370029B2 - Status: Granted - Kind: B2 - Application number: 15/653,327 - Filed: 2017-07-18 - Published: 2018-01-25 - Granted: 2019-08-06 - Earliest claimed: 2016-07-20 - Assignees: Denso Corporation - Applicants: Denso Corporation - Inventors: Motoaki Kataoka; Yosuke Hirate - Web page: https://patentgrep.com/patent/US10370029B2 ## CPC - B62D 6/10: characterised by means for sensing {or determining} torque - B62D 5/0472: {for damping vibrations} - B62D 6/04: responsive only to forces disturbing the intended course of the vehicle, e.g. forces acting transversely to the direction of vehicle travel - G01L 5/221: {to steering wheels, e.g. for power assisted steering} - B62D 6/008: {Control of feed-back to the steering input member, e.g. simulating road feel in steer-by-wire applications} - 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) - G01L: MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE (weighing G01G) ## Abstract A steering control apparatus controls an assistance torque outputted by a motor connected to a steering system mechanism that generates a steering torque. In the steering control apparatus, a load calculating unit estimates or detects a load acting on a steering shaft of the steering system mechanism. A target steering torque calculating unit calculates a target steering torque that is a target value of the steering torque, based on the estimated or detected load. A servo controller calculates a command value of the assistance torque such that a torque deviation that is a difference between the steering torque and the target steering torque is zero. A band correcting unit includes a band correction filter that extracts a component of a specific frequency band during a process of calculation from the load to the target steering torque, and corrects a gain of a predetermined transfer function at the extracted band. ## Claims ### Claim 1 A steering control apparatus that controls an assistance torque outputted by a motor connected to a steering system mechanism that generates a steering torque, the steering control apparatus comprising: a load calculating unit that estimates or detects, using a processor, a load acting on a steering shaft of the steering system mechanism; a target steering torque calculating unit that calculates, using the processor, a target steering torque that is a target value of the steering torque, based on the estimated or detected load; a servo controller that calculates, using the processor, a command value of the assistance torque such that a torque deviation that is a difference between the steering torque and the target steering torque is zero; and a band correcting unit that includes a band correction filter that extracts a component of a specific frequency band during a process of calculation from the load to the target steering torque, and corrects, using the processor, a gain of a predetermined transfer function in a band extracted by the band correction filter. ### Claim 2 (depends on 1) The steering control apparatus according to claim 1, wherein: the band correcting unit uses one or more quadratic filters having a center frequency in the specific frequency band. ### Claim 3 (depends on 2) The steering control apparatus according to claim 2, wherein: the band correcting unit adjusts a correction amount of the transfer function based on vehicle speed. ### Claim 4 (depends on 3) The steering control apparatus according to claim 3, wherein: the band correcting unit adjusts a correction amount of the transfer function such that a change amount of the transfer function in the specific frequency band is even relative to a difference in a gradient of the target steering torque in relation to a value of the load or an absolute value of the load. ### Claim 5 (depends on 4) The steering control apparatus according to claim 4, wherein: the predetermined transfer function includes a transfer function from a steering wheel torque to the steering torque. ### Claim 6 (depends on 5) The steering control apparatus according to claim 5, wherein: the specific frequency band is set between a spring upper resonance frequency and a spring lower resonance frequency of a vehicle. ### Claim 7 (depends on 1) The steering control apparatus according to claim 1, wherein: the band correcting unit adjusts a correction amount of the transfer function based on vehicle speed. ### Claim 8 (depends on 1) The steering control apparatus according to claim 1, wherein: the band correcting unit adjusts a correction amount of the transfer function such that a change amount of the transfer function in the specific frequency band is even relative to a difference in a gradient of the target steering torque in relation to a value of the load or an absolute value of the load. ### Claim 9 (depends on 1) The steering control apparatus according to claim 1, wherein: the predetermined transfer function includes a transfer function from a steering wheel torque to the steering torque. ### Claim 10 (depends on 1) The steering control apparatus according to claim 1, wherein: the specific frequency band is set between a spring upper resonance frequency and a spring lower resonance frequency of a vehicle. ### Claim 11 A steering control method for controlling an assistance torque outputted by a motor connected to a steering system mechanism that generates a steering torque, the steering control method comprising: estimating or detecting, by a steering control apparatus, a load acting on a steering shaft of the steering system mechanism; calculating, by the steering control apparatus, a target steering torque that is a target value of the steering torque, based on the estimated or detected load; calculating, by the steering control apparatus, a command value of the assistance torque such that a torque deviation that is a difference between the steering torque and the target steering torque is zero; extracting, by a band correction filter provided in the steering control apparatus, a component of a specific frequency band during a process of calculation from the load to the target steering torque; and correcting, by the steering control apparatus, a gain of a predetermined transfer function in a band extracted by the band correction filter.