# US 11,299,197 B2 · Steering system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,299,197 B2 - Document ID: US11299197B2 - Status: Granted - Kind: B2 - Application number: 16/833,760 - Filed: 2020-03-30 - Published: 2020-10-08 - Granted: 2022-04-12 - Earliest claimed: 2019-04-02 - Assignees: Jtekt Corporation - Applicants: Jtekt Corporation - Inventors: Naoki Shoji; Robert Fuchs; Mitsuko Yoshida - Web page: https://patentgrep.com/patent/US11299197B2 ## CPC - B60W 60/0053: {from vehicle to occupant} - B62D 6/007: {adjustable by the driver, e.g. sport mode} - B60W 50/14: Means for informing the driver, warning the driver or prompting a driver intervention - B60W 60/0057: {Estimation of the time available or required for the handover} - B62D 5/0463: {calculating assisting torque from the motor based on driver input} - 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)} - B60W 2540/229: Attention level, e.g. attentive to driving, reading or sleeping - B60Y 2302/05: Leading to automatic stopping of the vehicle - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - 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) - B60Y: INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY ## Abstract 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. ## Claims ### Claim 1 A steering system comprising: an electric motor configured to turn a steered wheel of a vehicle; a detector configured to detect a steering operation performed by a driver; and a controller configured to: control the electric motor by switching an autonomous steering mode in which the electric motor is controlled based on an autonomous steering command value, a manual steering mode in which the electric motor is controlled based on a manual steering command value corresponding to the steering operation performed by the driver, and a cooperative steering mode in which the electric motor is controlled based on a cooperative steering command value incorporating both the autonomous steering command value and the manual steering command value; control the electric motor in the cooperative steering mode when a manual steering request is transmitted: at a time point that is prior, by a first predetermined time, to occurrence of predicted switching from the autonomous steering mode to the manual steering mode, or when the vehicle arrives at a point located a first predetermined distance before a point where the predicted switching is to occur; and output an automatic stop request for generating an autonomous steering command value that causes the vehicle to move to and stop at a predetermined stop position, after the manual steering request is transmitted, and when the steering operation by the driver is not detected before: a time point that is prior, by a second predetermined time, to the occurrence of the predicted switching, or the vehicle arrives at a point that is located a second predetermined distance before the point where the predicted switching is to occur. ### Claim 2 (depends on 1) The steering system according to claim 1, wherein the controller is configured such that, when the manual steering request is transmitted, the manual steering command value is weighted based on a driver arousal level and the electric motor is controlled in the cooperative steering mode using the weighted manual steering command value. ### Claim 3 (depends on 1) The steering system according to claim 1, wherein the controller is configured to control the electric motor in the cooperative steering mode when a driver arousal level is equal to or higher than a predetermined threshold. ### Claim 4 (depends on 1) The steering system according to claim 1, wherein the controller is configured to switch a control mode for the electric motor to the manual steering mode based on an operation performed by the driver.