Steering angle calculation apparatus and motor control apparatus including the same

1. A motor control apparatus configured to control driving of an electric motor for steering angle control, the motor control apparatus comprising:

a steering angle calculation apparatus comprising:

an electronic control unit configured to:

calculate a manual steering angle based on a torque caused by a driver and an equation of motion;

generate a manual steering command value;

instruct the electric motor to set the manual steering angle as the manual steering command value;

calculate an integrated angle command value by adding the manual steering command value to an automatic steering angle command value; and

perform angle control for the electric motor based on the integrated angle command value, wherein:

the equation of motion is for calculating the manual steering angle using the torque caused by the driver and a road load torque;

the road load torque is set based on at least one of road information and driver information;

the equation of motion includes a spring component and a viscosity component for generating the road load torque;

the spring component is set by correcting a basic spring component based on at least one of vehicle information, surrounding environment information and the driver information; and

the viscosity component is set by correcting a basic viscosity component based on the at least one of the vehicle information, the surrounding environment information and the driver information.

2. The steering angle calculation apparatus according to claim 1 , wherein:

the basic spring component has a linear characteristic defined by a predetermined spring constant relative to the manual steering angle; and

the basic viscosity component has a linear characteristic defined by a predetermined viscosity coefficient relative to a steering speed.

3. A motor control apparatus configured to control driving of an electric motor for steering angle control, the motor control apparatus comprising:

a steering angle calculation apparatus comprising:

an electronic control unit configured to:

calculate a manual steering angle by correcting, based on at least one of vehicle information, surrounding environment information and driver information, a basic steering angle set in accordance with torque caused by a driver;

generate a manual steering command value;

calculate an integrated angle command value by adding the manual steering command value to an automatic steering angle command value; and

perform angle control for the electric motor based on the integrated angle command value; and

instruct the electric motor to set the manual steering angle as the manual steering command value; and

set the manual steering angle.

4. A motor control apparatus comprising:

a torque sensor configured to detect a steering torque;

a steering angle sensor configured to detect an actual steering angle; and

a steering angle calculation apparatus comprising:

an electronic control unit configured to:

calculate a steering angle based on a torque caused by a driver and at least one of vehicle information, surrounding environment information, and driver information;

set an automatic steering control amount;

set an assist control amount using the steering torque;

calculate an integrated control amount by summing the automatic steering control amount and the assist control amount;

perform torque control for an electric motor for steering angle control based on the integrated control amount;

calculate an actual manual steering angle included in the actual steering angle, the actual manual steering angle being based on manual steering and assist control;

calculate an actual automatic steering angle by subtracting the actual manual steering angle from the actual steering angle;

set the automatic steering control amount using an automatic steering angle command value and the actual automatic steering angle; and

instruct the electric motor to set the steering angle as the actual manual steering angle.