# US 11,897,554 B2 · Turning control system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,897,554 B2 - Document ID: US11897554B2 - Status: Granted - Kind: B2 - Application number: 16/850,416 - Filed: 2020-04-16 - Published: 2020-10-29 - Granted: 2024-02-13 - Earliest claimed: 2019-04-26 - Assignees: Jtekt Corporation - Applicants: Jtekt Corporation - Inventors: Terutaka Tamaizumi - Web page: https://patentgrep.com/patent/US11897554B2 ## CPC - B62D 5/0463: {calculating assisting torque from the motor based on driver input} - B62D 6/008: {Control of feed-back to the steering input member, e.g. simulating road feel in steer-by-wire applications} - B62D 6/02: responsive only to vehicle speed - B62D 15/021: {Determination of steering angle} - B62D 6/002: {computing target steering angles for front or rear wheels (B62D7/159 takes precedence)} - B62D 6/007: {adjustable by the driver, e.g. sport mode} - 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 A turning control system includes an electronic control unit. The electronic control unit is configured to perform: a steering operation amount calculating process of calculating a steering operation amount; an angle command value calculating process of calculating an angle command value; an angle operation amount calculating process of calculating an angle operation amount; an operation process of operating a drive circuit of an electric motor; an adjustment process of adjusting a magnitude of a value obtained by subtracting the angle operation amount which is reflected in the operation process from the angle operation amount; and a correction process of correcting a magnitude of an input when the angle command value is calculated in the angle command value calculating process to be less when the magnitude of the subtracted value is great than when the magnitude of the subtracted value is small. ## Claims ### Claim 1 A turning control system for operating a turning actuator that includes an electric motor incorporated therein and turns turning wheels, the turning control system comprising: a processor configured to: calculate a steering operation amount, which is convertible to a torque required for the electric motor for turning the turning wheels, to convert a steering torque input by a driver to a target steering torque by feedback control; calculate an angle command value of a convertible angle which is convertible to a turning angle of the turning wheels based on the steering operation amount; calculate an angle operation amount, which is convertible to the torque required for the electric motor, for converting the convertible angle to the angle command value by feedback control; operate a drive circuit of the electric motor to control torque of the electric motor; adjust a magnitude of a control value which is subtracted from the angle operation amount and input the angle operation amount with the control value subtracted to operate the drive circuit of the electric motor; and in response to the angle command value being calculated, correct a magnitude of an input to be less given that the magnitude of the control value is a first value, as compared to a case where the magnitude of the control value is a second value smaller than the first value, using a normative model. ### Claim 2 (depends on 1) The turning control system according to claim 1, wherein adjusting the magnitude of the control value includes adjusting a value obtained by dividing an angle operation amount used to operate the drive circuit by the calculated angle operation amount in a range of from 0 to 1. ### Claim 3 (depends on 1) The turning control system according to claim 1, wherein the angle operation amount is calculated based on a sum of a feed-forward operation amount for feed-forward control to the angle command value and an estimated disturbance torque which is an output of a disturbance observer based on a difference between the convertible angle and the angle command value, and wherein the magnitude of the input is adjusted, in response to the angle command value being calculated, based on a value obtained by subtracting an estimated disturbance torque used to operate the drive circuit from the estimated disturbance torque used to calculate the angle operation amount. ### Claim 4 (depends on 1) The turning control system according to claim 1, wherein operating the drive circuit includes controlling a torque of the electric motor based on the angle operation amount regardless of the steering operation amount. ### Claim 5 (depends on 1) The turning control system according to claim 1, wherein calculating the angle command value includes changing a relationship of an output with the input based on the magnitude of the control value. ### Claim 6 (depends on 1) The turning control system according to claim 1, wherein adjusting the magnitude of the input includes decreasing the magnitude of the control value in response to determining that a vehicle speed is a first vehicle speed value in comparison with a case in which the vehicle speed is determined to be a second vehicle speed value lower than the first vehicle speed value. ### Claim 7 (depends on 1) The turning control system according to claim 1, wherein the processor is configured to: detect a sideslip of a vehicle, and wherein adjusting the magnitude of the input includes increasing the magnitude of the control value in response to detecting the sideslip, in comparison with a case in which the sideslip is not detected. ### Claim 8 (depends on 1) The turning control system according to claim 1, wherein the processor is configured to acquire a request signal from a driver, and wherein adjusting the magnitude of the input includes increasing the control value based on the acquired request signal.