Steering control apparatus
A steering control apparatus for an automotive vehicle is provided with s steering control system 41 that comprises a detected steering angle calculating section for calculating a detected steering angle θj based on a variation of a motor rotational angle detected by a motor rotational angle sensor 25 . An electric motor 19 is connected to a steering wheel 33 through a reduction mechanism. As the motor rotational angle sensor 25 is provided on the the electric motor 19 , resolution of the detected steering angle θj calculated based on the variation of the motor rotational angle becomes higher than that in the prior art, and thereby it becomes possible that the steered wheels are steered under the stable positioning control. Further, as the motor rotational angle sensor 25 is originally provided on the electric motor 19 , the size and cost of the apparatus is restrained from being large and high.
1. A steering control apparatus which is capable of running an automotive vehicle under an automatic steering control without driver's manual operation of a steering wheel, wherein a steering angle of steered wheels is controlled by an electric motor that is connected to the steering wheel and the steered wheels a reduction mechanism, and which is provided with a steering control system that calculates an electric current command value for the electric motor based on a deviation of a detected steering angle of the steered wheels from a target steering angle calculated according to a predetermined target position to which the vehicle is to run, wherein the steering control system comprises:
a detected steering angle calculating section which reads out a steering wheel rotational angle from a steering wheel rotational angle sensor provided on the rotational axis of the steering wheel and an motor rotational angle from a motor rotational angle sensor, storing the steering wheel rotational angle at the beginning of the vehicle running under the automatic steering control as an initial value θc 1 of the detected steering angle, calculating a variation θf of the motor rotational angle θ 7 from the motor rotational angle at the beginning of the vehicle running under the automatic steering control, calculating the detected steering angle θj by an equation of θj=θc 1 +θf/R, wherein the initial value θc 1 is added to a value obtained by dividing the variation θf by a reduction ratio R of the reduction mechanism.
2. The steering control apparatus as set forth in claim 1 , wherein the steering control system further comprising: a determining section for determining to suspend the vehicle running under the automatic steering control when a difference between the detected steering angle calculated by the detected steering angle calculating section and the steering wheel rotational angle detected by the steering wheel rotational angle sensor is over the predetermined allowable error.
3. The steering control apparatus as set forth in claim 2 , wherein the steering control system further comprising: a time-integrated value calculating section for varying an electric current command value for the electric motor according to the time-integrated value calculated by integrating the deviation with respect to time, and
a time-integrated value reset section for resetting a last time-integrated value before a vehicle running under the automatic steering control is resumed after a last vehicle running under the automatic steering control is suspended.
4. The steering control apparatus as set forth in claim 2 , wherein the determining section causes the steering control system to output an informing signal for informing that the vehicle running under the automatic steering control is suspended.