公开(公告)号：US10059369B2

公开(公告)日：2018-08-28

申请号：US15571578

申请日：2016-06-09

Applicant: NSK LTD.

Inventor： Sakae Nejo ,  Tomonori Sato

IPC: B62D5/08 ,  B62D5/04 ,  B62D6/00 ,  B62D15/02

Abstract: An electric power steering apparatus that has a torque sensor which detects a steering torque, and a motor control apparatus to control the motor which applies an assist torque, by which steering is assisted, to a steering system of a vehicle, including: a function that switches a control system of the motor between an angle control system to control an angle corresponding to an angle control command value of an automatic steering mode and a torque control system to control a torque corresponding to a torque control command value of a manual steering mode in accordance with a predetermined switching trigger, wherein the steering apparatus variably sets a gradual-changing time corresponding to a command value difference between the angle control command value and the torque control command value when switching from the angle control system to the torque control system by using a gradual-changing.

公开(公告)号：US10464605B2

公开(公告)日：2019-11-05

申请号：US16072073

申请日：2017-02-09

Applicant: NSK Ltd.

Inventor： Tomonori Sato ,  Sakae Nejo ,  Nobuhiro Mitsuishi ,  Sumio Sugita

IPC: B62D15/02 ,  B62D6/00 ,  G05B1/06 ,  B62D5/04 ,  B62D5/00

Abstract: To provide a vehicle steering control device capable of suppressing influence of a torque generated during driving support by an EPS device on steering of a steering wheel performed by a driver. The vehicle steering control device includes an EPS controller (first controller) that controls a speed reduction mechanism and a differential mechanism controller (second controller) that controls a differential mechanism. In addition, the vehicle steering control device has a first steering assist mode of assisting driver's steering and a second steering assist mode of performing steering independently from the driver's steering. In the second steering assist mode, the second controller controls the differential mechanism so as to cancel a torque applied to a rack-and-pinion side of the differential mechanism from the speed reduction mechanism controlled by the first controller.

公开(公告)号：US10315693B2

公开(公告)日：2019-06-11

申请号：US16072272

申请日：2017-02-09

Applicant: NSK LTD.

Inventor： Nobuhiro Mitsuishi ,  Sakae Nejo ,  Sumio Sugita ,  Tomonori Sato

IPC: B62D5/04 ,  B62D6/00 ,  B62D5/00

Abstract: To provide a vehicle steering control device capable of alleviating discomfort caused by mismatch between a steering angle of a steering wheel and a steered angle of a drive wheel generated by automatic steering using an EPS device. The vehicle steering control device has a first steering assist mode of assisting driver's steering and a second steering assist mode of performing steering independently from the driver's steering. A second controller, performs phase shift suppression control to suppress a relative shift of a phase of a differential mechanism on a steering wheel side with respect to a reference phase on the steering wheel side of the differential mechanism corresponding to a phase on a rack-and-pinion side of the differential mechanism in the first steering assist mode.