Electric power steering apparatus
An electric power steering apparatus includes a motor for applying assist torque to a vehicle steering mechanism and a controller, which controls driving of the motor to cause the assist torque to follow an assist command value. The controller calculates a basic assist command value based on steering torque applied to the steering mechanism and corrects the basic assist command value using a correction value, thereby setting the assist command value. If the steering torque has an absolute value greater than a threshold value when the vehicle is in a straight-line traveling state, the controller sets the correction value such that the absolute value of the steering torque is reduced. If the steering torque has an absolute value less than the threshold value when the vehicle is in a straight-line traveling state, the controller sets the correction value such that the absolute value of the assist command value is reduced.
1. An electric power steering apparatus comprising:
a motor for applying assist torque to a steering mechanism of a vehicle; and
a controller, which controls driving of the motor to cause the assist torque to follow an assist command value, wherein
the controller calculates a basic assist command value based on steering torque applied to the steering mechanism and corrects the basic assist command value using a correction value, thereby setting the assist command value,
when steering torque detected when the vehicle is determined to be in a straight-line traveling state has an absolute value greater than a threshold value, the threshold value being set for determining whether a steering wheel is being steered, the controller sets the correction value such that the absolute value of the steering torque is reduced, and
when the steering torque detected when the vehicle is determined to be in a straight-line traveling state has an absolute value less than the threshold value, the controller sets the correction value such that the absolute value of the assist command value is reduced; and
wherein
the controller sets the correction value using an additional value that is calculated based on the steering torque,
when the steering torque detected when the vehicle is determined to be in a straight-line traveling state has an absolute value greater than the threshold value, the controller sets the additional value to a positive value such that the absolute value of the correction value is increased, and
when the steering torque detected when the vehicle is determined to be in a straight-line traveling state has an absolute value less than the threshold value, the controller sets the additional value to a negative value such that the absolute value of the correction value is reduced; and
wherein
when the steering torque detected when the vehicle is determined to be in a straight-line traveling state is greater than zero, the controller adds the additional value to the correction value of a previous cycle to calculate a new correction value, and
when the steering torque detected when the vehicle is determined to be in a straight-line traveling state is less than zero, the controller subtracts the additional value from the correction value of the previous cycle to calculate a new correction value, wherein
the additional value is zero when the detected steering torque is zero or equal to the threshold value;
the additional value is a negative with an amount varying depending on the value of the detected steering torque when the detected steering torque is between zero and the threshold value; and
the additional value is a positive value that increases with increasing amount of the detected steering torque when the detected steering torque is greater than the threshold value.
2. The electric power steering apparatus according to claim 1 , wherein the controller has a dead zone in which when the steering torque has an absolute value that is less than or equal to a predetermined value that lies within the dead zone, the basic assist command value is set to zero.
3. The electric power steering apparatus according to claim 2 , wherein
when the steering torque has an absolute value greater than zero, the controller sets the correction value to zero when the direction of assist torque that corresponds to the correction value is different from the direction of the steering torque, and
when the steering torque is zero, the controller sets the correction value to zero.
4. The electric power steering apparatus according to claim 2 , wherein
the threshold value is a first threshold value,
when the steering torque has an absolute value greater than or equal to a second threshold value that is different from the first threshold value, the controller sets the correction value to zero when the direction of assist torque that corresponds to the correction value is different from the direction of the steering torque, and
when the steering torque has an absolute value less than the second threshold value, the controller sets the correction value to zero.
5. The electric power steering apparatus according to claim 2 , wherein
the threshold value is a first threshold value,
when the steering torque has an absolute value greater than or equal to a second threshold value that is different from the first threshold value, the controller sets the correction value to zero when the direction of assist torque that corresponds to the correction value is different from the direction of the steering torque, and
when the steering torque has an absolute value less than the second threshold value, the controller limits the correction value within a predetermined range.
6. The electric power steering apparatus according to claim 1 , wherein
when the steering torque has an absolute value greater than zero, the controller sets the correction value to zero when the direction of assist torque that corresponds to the correction value is different from the direction of the steering torque, and
when the steering torque is zero, the controller sets the correction value to zero.
7. The electric power steering apparatus according to claim 1 , wherein
the threshold value is a first threshold value,
when the steering torque has an absolute value greater than or equal to a second threshold value that is different from the first threshold value, the controller sets the correction value to zero when the direction of assist torque that corresponds to the correction value is different from the direction of the steering torque, and
when the steering torque has an absolute value less than the second threshold value, the controller sets the correction value to zero.
8. The electric power steering apparatus according to claim 1 , wherein
the threshold value is a first threshold value,
when the steering torque has an absolute value greater than or equal to a second threshold value that is different from the first threshold value, the controller sets the correction value to zero when the direction of assist torque that corresponds to the correction value is different from the direction of the steering torque, and
when the steering torque has an absolute value less than the second threshold value, the controller limits the correction value within a predetermined range.
9. An electric power steering apparatus comprising:
a motor for applying assist torque to a steering mechanism of a vehicle; and
a controller, which controls driving of the motor to cause the assist torque to follow an assist command value, wherein
the controller calculates a basic assist command value based on steering torque applied to the steering mechanism and corrects the basic assist command value using a correction value, thereby setting the assist command value,
when steering torque detected when the vehicle is determined to be in a straight-line traveling state has an absolute value greater than a threshold value, the threshold value being set for determining whether a steering wheel is being steered, the controller sets the correction value such that the absolute value of the steering torque is reduced, and
when the steering torque detected when the vehicle is determined to be in a straight-line traveling state has an absolute value less than the threshold value, the controller sets the correction value such that the absolute value of the assist command value is reduced; and
wherein
the controller sets the correction value using an additional value that is calculated based on the steering torque,
when the steering torque detected when the vehicle is determined to be in a straight-line traveling state has an absolute value greater than the threshold value, the controller sets the additional value to a positive value such that the absolute value of the correction value is increased, and
when the steering torque detected when the vehicle is determined to be in a straight-line traveling state has an absolute value less than the threshold value, the controller sets the additional value to a negative value such that the absolute value of the correction value is reduced;
the additional value is zero when the detected steering torque is zero or equal to the threshold value;
the additional value is a negative with an amount varying depending on the value of the detected steering torque when the detected steering torque is between zero and the threshold value; and
the additional value is a positive value that increases with increasing amount of the detected steering torque when the detected steering torque is greater than the threshold value.