# US 2021/0276616 A1 · Steering control apparatus

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- Number: US 2021/0276616 A1
- Document ID: US20210276616A1
- Status: Published application
- Kind: A1
- Application number: 17/190,565
- Filed: 2021-03-03
- Published: 2021-09-09
- Earliest claimed: 2020-03-09
- Assignees: Jtekt Corporation
- Applicants: Jtekt Corporation
- Inventors: Yuki INDEN; Terutaka TAMAIZUMI
- Web page: https://patentgrep.com/patent/US20210276616A1

## CPC

- B62D 6/008: {Control of feed-back to the steering input member, e.g. simulating road feel in steer-by-wire applications}
- 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 5/006: {power actuated}
- B62D 5/0481: {monitoring the steering system, e.g. failures}
- B62D 5/0472: {for damping vibrations}
- 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 steering control apparatus controls a motor used to turn a steered wheel of a vehicle, which synchronizes with a steering wheel, based on a command value. The steering control apparatus includes an electronic control unit. The electronic control unit is configured to compute a feedback control torque to be reflected in the command value. The electronic control unit is configured to compute a disturbance torque based on the feedback control torque and a predetermined angle. The electronic control unit is configured to correct the feedback control torque by using the disturbance torque. The electronic control unit is configured to correct the command value reflecting the corrected feedback control torque, based on an applied torque.

## Claims

### Claim 1

A steering control apparatus that controls a motor used to turn a steered wheel of a vehicle, which synchronizes with a steering wheel, based on a command value, the command value being computed according to a target angle of an angle convertible to a wheel steering angle of the steered wheel, the target angle being determined by an onboard host control apparatus, the steering control apparatus comprising an electronic control unit, wherein:
the electronic control unit is configured to compute a feedback control torque to be reflected in the command value through execution of feedback control, the feedback control is control to cause a predetermined angle to follow the target angle, the predetermined angle is the angle convertible to the wheel steering angle and detected through a first sensor;
the electronic control unit is configured to compute a disturbance torque based on the computed feedback control torque and the predetermined angle, the disturbance torque is a torque that affects the predetermined angle and that is other than a torque to be generated by the motor;
the electronic control unit is configured to correct the computed feedback control torque by using the computed disturbance torque; and
the electronic control unit is configured to correct the command value reflecting the corrected feedback control torque based on an applied torque, the applied torque is a torque to be applied to the steering wheel and detected through a second sensor.

### Claim 2 (depends on 1)

The steering control apparatus according to claim 1, wherein the electronic control unit is configured to subtract the applied torque from the command value reflecting the corrected feedback control torque.

### Claim 3 (depends on 1)

The steering control apparatus according to claim 1, wherein the electronic control unit is configured to subtract the applied torque from the computed disturbance torque.

### Claim 4 (depends on 1)

The steering control apparatus according to claim 1, wherein:
the electronic control unit is configured to compute a feedforward control torque based on a second time derivative of the target angle; and
the electronic control unit is configured to subtract the disturbance torque from a value obtained by adding the feedforward control torque to the feedback control torque.