# US 12,594,985 B2 · Motor control device > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,594,985 B2 - Document ID: US12594985B2 - Status: Granted - Kind: B2 - Application number: 18/705,206 - Filed: 2022-05-12 - Published: 2024-12-19 - Granted: 2026-04-07 - Earliest claimed: 2021-11-08 - Assignees: Jtekt Corporation - Applicants: Jtekt Corporation - Inventors: Syouma Edamoto; Tsutomu Tamura; Robert Fuchs; Mitsuko Yoshida - Web page: https://patentgrep.com/patent/US12594985B2 ## CPC - B62D 5/0463: {calculating assisting torque from the motor based on driver input} - 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 6/002: {computing target steering angles for front or rear wheels (B62D7/159 takes precedence)} - 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) ## Abstract A motor control device includes: an assist torque command value generation unit that generates an assist torque command value using steering torque; a manual steering command value generation unit that generates a manual steering command value using the steering torque and the assist torque command value; an integrated angle command value calculation unit that calculates an integrated angle command value by adding the manual steering command value to an automatic steering command value for driving assist; and a switching unit that switches between a first control mode in which an electric motor is controlled based on the assist torque command value or the manual steering command value and a second control mode in which the electric motor is controlled based on the integrated angle command value according to a lateral position of a vehicle with respect to a lane in a driving assist mode. ## Claims ### Claim 1 A motor control device that controls drive of an electric motor for steering angle control, the motor control device comprising: an assist torque command value generation unit that generates an assist torque command value using steering torque; a manual steering command value generation unit that generates a manual steering command value using the steering torque and the assist torque command value; an integrated angle command value calculation unit that calculates an integrated angle command value by adding the manual steering command value to an automatic steering command value for driving assist; and a switching unit that switches between a first control mode in which the electric motor is controlled based on the assist torque command value or the manual steering command value and a second control mode in which the electric motor is controlled based on the integrated angle command value according to a lateral position of a vehicle with respect to a lane in a driving assist mode, wherein the manual steering command value is calculated in consideration of a virtual road load torque, and the virtual road load torque is set according to the lateral position of the vehicle with respect to the lane. ### Claim 2 (depends on 1) The motor control device according to claim 1, wherein: a first lateral position that is the lateral position at which the first control mode is switched to the second control mode and a second lateral position that is the lateral position at which the second control mode is switched to the first control mode are set in advance; and a steering reaction force applied to the vehicle when the vehicle moves from a lane boundary of the lane to the second lateral position has a first characteristic in which a rate of decrease in the steering reaction force is high, and a second characteristic that is continuous with the first characteristic and in which the rate of decrease in the steering reaction force is lower than the rate of decrease in the steering reaction force in the first characteristic. ### Claim 3 (depends on 1) The motor control device according to claim 1, wherein a first lateral position that is the lateral position at which the first control mode is switched to the second control mode and a second lateral position that is the lateral position at which the second control mode is switched to the first control mode are set to different positions. ### Claim 4 (depends on 3) The motor control device according to claim 3, wherein the second lateral position is set closer to a center of the lane than the first lateral position. ### Claim 5 (depends on 3) The motor control device according to claim 3, wherein the first lateral position is set closer to a center of the lane than the second lateral position. ### Claim 6 A motor control device that controls drive of an electric motor for steering angle control, the motor control device comprising: an assist torque command value generation unit that generates an assist torque command value using steering torque; a manual steering command value generation unit that generates a manual steering command value using the steering torque and the assist torque command value; an integrated angle command value calculation unit that calculates an integrated angle command value by adding the manual steering command value to an automatic steering command value for driving assist; and a switching unit that switches between a first control mode in which the electric motor is controlled based on the assist torque command value or the manual steering command value and a second control mode in which the electric motor is controlled based on the integrated angle command value according to a lateral position of a vehicle with respect to a lane in a driving assist mode, wherein: a first lateral position that is the lateral position at which the first control mode is switched to the second control mode and a second lateral position that is the lateral position at which the second control mode is switched to the first control mode are set in advance; and a steering reaction force applied to the vehicle when the vehicle moves from a lane boundary of the lane to the second lateral position has a first characteristic in which a rate of decrease in the steering reaction force is high, and a second characteristic that is continuous with the first characteristic and in which the rate of decrease in the steering reaction force is lower than the rate of decrease in the steering reaction force in the first characteristic. ### Claim 7 (depends on 6) The motor control device according to claim 6, wherein the manual steering command value is calculated in consideration of a virtual road load torque.