# US 11,027,777 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 11,027,777 B2 - Document ID: US11027777B2 - Status: Granted - Kind: B2 - Application number: 15/890,884 - Filed: 2018-02-07 - Published: 2018-10-04 - Granted: 2021-06-08 - Earliest claimed: 2017-03-31 - Assignees: Toyota Jidosha Kabushiki Kaisha - Applicants: Toyota Jidosha Kabushiki Kaisha - Inventors: Ryo Irie; Yoji Kunihiro; Yutaka Aoki; Yoshio Kudo - Web page: https://patentgrep.com/patent/US11027777B2 ## CPC - B62D 6/008: {Control of feed-back to the steering input member, e.g. simulating road feel in steer-by-wire applications} - B62D 5/046: {Controlling the motor} - B62D 6/005: {treating sensor outputs to obtain the actual yaw rate} - B62D 6/007: {adjustable by the driver, e.g. sport mode} - B62D 6/08: responsive only to {driver} input torque - B62D 15/025: {Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation (B62D1/28 takes precedence)} - 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) ## Abstract The steering control apparatus determines whether or not a deviation degree of a current traveling route of a vehicle with respect to a target traveling route is equal to or more than a predetermined threshold, when steering control is switched from manual steering control to automatic steering control. In the automatic steering control, a command steering angle is calculated so that a difference between a real traveling route of the vehicle and the target traveling route is eliminated. However, when the deviation degree is equal to or more than the predetermined threshold, the steering control apparatus recalculates the command steering angle used in the command steering angle tracking control based on a steering angle at the time of starting the automatic steering control and the command steering angle so that a real steering angle after switching to the automatic steering control changes gradually to the command steering angle. ## Claims ### Claim 1 A steering control apparatus that is capable of switching steering control between manual steering control to make a driver operate a steering mechanism and automatic steering control to operate the steering mechanism automatically by a motor; wherein the steering control apparatus is programmed to acquire a target traveling route, calculate a command steering angle so that a difference between a real traveling route of a vehicle and the target traveling route is eliminated, and perform command steering angle tracking control to drive the motor so that a real steering angle tracks the command steering angle, when the automatic steering control is selected; and wherein the steering control apparatus is programmed to: calculate an original value of the command steering angle to make the real traveling route converge to the target traveling route with a constant response; determine whether or not a deviation degree of a current traveling route of the vehicle with respect to the target traveling route is equal to or more than a predetermined threshold, when the steering control is switched from the manual steering control to the automatic steering control; calculate a recalculated value of the command steering angle that changes gradually from a real steering angle after switching to the automatic steering control to the original value of the command steering angle, based on a steering angle at the time of starting the automatic steering control and the original value of the command steering angle, when the deviation degree is equal to or more than the predetermined threshold; and perform the command steering angle tracking control with the recalculated value of the command steering angle until the recalculated value of the command steering angle converges to the original value of the command steering angle. ### Claim 2 (depends on 1) The steering control apparatus according to claim 1, wherein the steering control apparatus is programmed to: determine whether or not the deviation degree is equal to or more than a predetermined upper limit, when switching the steering control from the manual steering control to the automatic steering control is requested; and cancel the switching to the automatic steering control and continue the manual steering control, when the deviation degree is equal to or more than the predetermined upper limit. ### Claim 3 (depends on 1) The steering control apparatus according to claim 1, wherein the steering control apparatus is programmed to calculate the recalculated value of the command steering angle by executing a filtering process or a rate limiter process to a difference between a steering angle at the time of starting the automatic steering control and the original value of the command steering angle. ### Claim 4 (depends on 1) The steering control apparatus according to claim 1, wherein the steering control apparatus is programmed to calculate the recalculated value of the command steering angle so as to match the real traveling route of the vehicle with the target traveling route until a predetermined time passes from the starting time of the automatic steering control while keeping a vehicle behavior and a steering behavior within an allowable range. ### Claim 5 (depends on 1) The steering control apparatus according to claim 1, wherein the steering control apparatus is programmed to adjust a gain of the command steering angle tracking control so as to raise trackability of the real steering angle with respect to the recalculated value of the command steering angle, when the recalculated value of the command steering angle is calculated. ### Claim 6 (depends on 1) The steering control apparatus according to claim 1, wherein the steering control apparatus is programmed to stop an update of an integral value included in an integral term of the command steering angle tracking control or reset the integral value, when the recalculated value of the command steering angle used in the command steering angle tracking control is calculated.