COOPERATIVE CONTROL APPARATUS OF MOTOR DRIVEN POWER STEERING APPARATUS FOR SMART PARKING ASSISTANT SYSTEM

摘要

PURPOSE: A cooperative control device of a motor power-steering device for an intelligent parking assistance system of vehicles is provided to confirm a mutual control state and perform steering for automatic parking through the cooperative control device. CONSTITUTION: A target angular speed setting unit(26) calculates a final target steering angular speed through a excessive target limit setting value set by a limit value setting unit and a target steering angular speed calculated by a location control unit. The target angular speed setting unit converts the final target steering angular speed into a final target motor angular speed. A motor angular speed control unit(28) calculates an angular speed control value to control a motor through the final target motor angular speed inputted by the target angular speed setting unit and a motor angular speed inputted by a motor angular speed sensor. The target angular speed setting unit outputs the angular speed control value to a motor power-steering device. [Reference numerals] (22) Position control unit; (24) Limit value setting unit; (26) Target angular speed setting unit; (28) Motor angular speed control unit; (40) Steering angle sensor; (50) Motor angular speed sensor; (AA) Required steering angle; (BB) Angular speed control value