Electric power steering apparatus
View Patent ↗In an electric power steering apparatus which comprises a motor for generating steering assist force, it is judged whether or not the vehicle is in a state of straight forward motion. A mean reference steering angle is determined by dividing total of relative steering angles which are determined when the vehicle is judged to be in a state of straight forward motion by the number of judgments that the vehicle is in a state of straight forward motion. A steering angle is determined by subtracting a steering angle midpoint from a relative steering angle with taking the mean reference steering angle as the steering angle midpoint. The output of the motor for generating steering assist force is corrected in accordance with an output correction value determined on the basis of the determined steering angle. This output correction value is altered so as to have a positive correlation with the number of judgments that the vehicle is in a state of straight forward motion.
1. An electric power steering apparatus comprising:
a motor which generates a steering assist force;
a steering angle determining part which determines measurement based steering angles based on concurrently measured values;
a straight travel judging part which judges whether or not a vehicle is in a state of straight forward motion;
a mean reference angle determining part which determines a mean reference steering angle by dividing total of said measurement based steering angles, which are determined when the vehicle is judged to be in a state of straight forward motion, by a number m of judgments that the vehicle is in a state of straight forward motion which is a number of said measurement based steering angles which are totaled;
a corrected steering angle determining part which determines a corrected steering angle by subtracting a steering angle midpoint from a presently determined measurement based steering angle wherein said mean reference steering angle is used as said steering angle midpoint;
a steering angle based correction part which corrects an output of said motor in accordance with a steering angle output correction value determined on a basis of the corrected steering angle; and
a gain application part applying said steering angle output correction value to correct the output of said motor wherein an absolute amount of said steering angle output correction value applied for a given corrected steering angle is increased as the number m of said measurement based steering angles which are totaled to determine said mean reference steering angle increase.
2. The electric power steering apparatus according to claim 1 , further comprising:
a sensor which determines steering torque;
a controller which controls said motor so that the steering assist force generated corresponds to the determined steering torque; and
a return steering judging part which judges whether or not a return steering operation toward a straight forward steering position is being performed;
wherein said output correction value has an inverse correlation with the corrected steering angle when the return steering operation is being performed.
3. The electric power steering apparatus according to claim 1 , wherein said gain application part has gain determined by a gain characteristic applied to said steering angle output correction value which linearly increases the gain as said number m increases from a first predetermined value to a second predetermined value, and said gain is applied to multiply said steering angle output correction value.
4. The electric power steering apparatus according to claim 3 , wherein said gain application part has said gain characteristic configured such that said gain applied to said steering angle output correction value is zero for values of said number m less than said first predetermined value.
5. The electric power steering apparatus according to claim 4 , wherein said gain application part has said gain characteristic configured such that said gain applied to said steering angle output correction value is a constant for values of said number m greater than said second predetermined value.
6. The electric power steering apparatus according to claim 1 , wherein said gain application part has a gain characteristic configured such that a gain applied to said steering angle output correction value is zero for values of said number m less than a first predetermined value, and said gain is applied to multiply said steering angle output correction value.
7. The electric power steering apparatus according to claim 6 , wherein said gain application part has said gain characteristic configured such that said gain applied to said steering angle output correction value is a constant for values of said number m greater than a second predetermined value.
8. The electric power steering apparatus according to claim 1 , wherein said gain application part has said gain characteristic configured such that a gain applied to said steering angle output correction value is a constant for values of said number m greater than a second predetermined value, and said gain is applied to multiply said steering angle output correction value.