Electric power steering apparatus
An electric power steering apparatus includes a rotating assist force computing unit for computing an assist force in the rotating direction of a steering wheel, a returning assist force computing unit for computing a returning assist force, which is a steering assist force in a direction opposite to the rotating direction, and a summing unit for adding up the computed assist force in the rotating direction and the computed returning assist force. The electric power steering apparatus returns the steering wheel and steered road wheels to the neutral position at an earlier time if a driver releases his or her hands from the steering wheel when rotating the steering wheel.
1. An electric power steering apparatus comprising:
an electric actuator for generating a steering assist force for a steering mechanism of a vehicle; and
a control device that controls the steering assist force generated by the electric actuator in accordance with a steering operation of a steering wheel by a driver,
wherein the control device comprises
a rotating assist force computing unit that computes an assist force in a rotating direction of the steering wheel in accordance with a steering state of the steering wheel,
a returning assist force computing unit that computes a returning assist force, which is the steering assist force in a direction opposite to the rotating direction, in accordance with the steering state of the steering wheel, and
a summing unit that adds up the computed assist force in the rotating direction and the computed returning assist force,
wherein
if a vehicle speed is equal to or lower than a first speed, the returning assist force computing unit increases the returning assist force to a first torque in accordance with an increase in a steering angle of the steering wheel, and
if the vehicle speed is higher than the first speed, the returning assist force computing unit increases the returning assist force to a second torque, which is lower than the first torque, in accordance with an increase in the steering angle of the steering wheel, and
wherein
if the vehicle speed is equal to or lower than the first speed, the returning assist force computing unit increases the returning assist force at a first inclination, and
if the vehicle speed is higher than the first speed, the returning assist force computing unit increases the returning assist force at a second inclination which is greater than the first inclination.
2. The electric power steering apparatus according to claim 1 , wherein
if the steering angle of the steering wheel exceeds a first steering angle when the vehicle speed is equal to or lower than the first speed, the returning assist force computing unit decreases the returning assist force from the first torque in accordance with an increase in the steering angle of the steering wheel.
3. The electric power steering apparatus according to claim 2 , wherein
if a steering torque of the steering wheel reaches a predetermined value or higher, the returning assist force computing unit gradually decreases a gain in the returning assist force.
4. The electric power steering apparatus according to claim 1 , wherein
if a steering torque of the steering wheel reaches a predetermined value or higher, the returning assist force computing unit gradually decreases a gain in the returning assist force.