Electric power steering apparatus

摘要

An electric power steering apparatus that detects that a driver has steered the handle by using a steering torque detected by a torque sensor, switches to the manual steering mode due to a capacity (an integrated value) corresponding to a generated torque, and does not provide an uncomfortable feeling to the driver.

主权项

1. An electric power steering apparatus that calculates a first motor current command value based on a steering torque and a vehicle speed, performs an assist control of a steering system by driving a motor on a basis of said first motor current command value, and has a function for switching between an automatic steering mode and a manual steering mode, comprising:
a steering angle control section that calculates a second motor current command value so as to bring an actual steering angle close to a target steering angle; a torque integral judging section to output a steering torque judging signal by integrating said steering torque and comparing with a predetermined threshold; an a switching section that inputs said first motor current command value and said second motor current command value, and is switched by a switching signal or said steering torque judging signal,
wherein said torque integral judging section comprises:a torque value comparing section to output a predetermined signal by comparing an absolute value of said steering torque with a torque threshold; a torque-sensitive type gain section to input said predetermined signal and output an integral input value which is multiplied a torque-sensitive gain corresponding to said absolute value of said steering torque with said predetermined signal; an integral calculating section to integrate said integral input value from said torque-sensitive type gain section; and a switch judging section to output said steering torque judging signal by comparing an integrated value from said integral calculating section with an integral threshold,wherein said switching section is switched in correspondence with a switching command of said automatic steering mode and said manual steering mode, or said steering torque judging signal.