A controller includes a control circuit configured to calculate a target corresponding steered angle that is a target value of a corresponding steered angle based on the transmission ratio associated with the vehicle speed. The corresponding steered angle is a rotation angle of a rotation shaft, which is convertible to the steered angle whose magnitude is changed relative to a value indicating the steering angle. The control circuit is configured to control the actuation of the motor so that an actual corresponding steered angle is a final target corresponding steered angle that is based on the target corresponding steered angle. The control circuit is configured to calculate the target corresponding steered angle by adjusting the transmission ratio based on a value indicating acceleration or deceleration of a vehicle.

A controller includes a control circuit configured to calculate a target corresponding steered angle that is a target value of a corresponding steered angle based on the transmission ratio associated with the vehicle speed. The corresponding steered angle is a rotation angle of a rotation shaft, which is convertible to the steered angle whose magnitude is changed relative to a value indicating the steering angle. The control circuit is configured to control the actuation of the motor so that an actual corresponding steered angle is a final target corresponding steered angle that is based on the target corresponding steered angle. The control circuit is configured to calculate the target corresponding steered angle by adjusting the transmission ratio based on a value indicating acceleration or deceleration of a vehicle.

A motor-driven power steering apparatus includes an auxiliary output generation unit configured to generate an auxiliary output of a motor by using at least one of a vehicle speed, a steering angle and a column torque; a compensation gain generation unit configured to generate a compensation gain for compensating for a steering pull of a vehicle by a rapid acceleration during a turn, by using at least one of the vehicle speed, the steering angle and the column torque; and an auxiliary output compensation unit configured to compensate for an auxiliary output by applying the compensation gain outputted by the compensation gain generation unit to the auxiliary output.

A motor-driven power steering apparatus includes an auxiliary output generation unit configured to generate an auxiliary output of a motor by using at least one of a vehicle speed, a steering angle and a column torque; a compensation gain generation unit configured to generate a compensation gain for compensating for a steering pull of a vehicle by a rapid acceleration during a turn, by using at least one of the vehicle speed, the steering angle and the column torque; and an auxiliary output compensation unit configured to compensate for an auxiliary output by applying the compensation gain outputted by the compensation gain generation unit to the auxiliary output.

An assisting force control device 1 includes a torque detection unit that detects the steering torque of a vehicle, a calculation unit that, after the torque detection unit has detected a steering torque of at least a prescribed size, integrates the steering torque to calculate an integrated torque amount, and an assisting force control unit that reduces the steering assisting force to a value that is smaller than a prescribed value in a direction in which the vehicle is prevented from deviating from a lane, such reduction carried out if the integrated torque amount calculated by the calculation unit becomes at least an integration threshold value corresponding to a traveling condition of the vehicle.

An assisting force control device 1 includes a torque detection unit that detects the steering torque of a vehicle, a calculation unit that, after the torque detection unit has detected a steering torque of at least a prescribed size, integrates the steering torque to calculate an integrated torque amount, and an assisting force control unit that reduces the steering assisting force to a value that is smaller than a prescribed value in a direction in which the vehicle is prevented from deviating from a lane, such reduction carried out if the integrated torque amount calculated by the calculation unit becomes at least an integration threshold value corresponding to a traveling condition of the vehicle.

A steering apparatus for vehicles that easily obtains equivalent steering torques to vehicle driving information such as a steering angle without being affected by a road surface state and aging-changes of mechanism characteristics of a steering system. The steering apparatus includes a torsional angle control section that calculates a motor current command value based on a target torsional angle corresponding to vehicle driving information and the torsional angle, and includes a torsional angle feedback compensating section that calculates a target torsional angular velocity by a deviation between the target torsional angle and the torsional angle. A torsional angular velocity calculating section calculates a torsional angular velocity by the torsional angle, and a velocity control section calculates a pre-limitation motor current command value by performing proportional compensation based on the target torsional angular velocity and the torsional angular velocity. An output limiting section limits upper and lower limit values of the pre-limitation motor current command value, and outputs the motor current command value which is used to control the motor.

A steering apparatus for vehicles that easily obtains equivalent steering torques to vehicle driving information such as a steering angle without being affected by a road surface state and aging-changes of mechanism characteristics of a steering system. The steering apparatus includes a torsional angle control section that calculates a motor current command value based on a target torsional angle corresponding to vehicle driving information and the torsional angle, and includes a torsional angle feedback compensating section that calculates a target torsional angular velocity by a deviation between the target torsional angle and the torsional angle. A torsional angular velocity calculating section calculates a torsional angular velocity by the torsional angle, and a velocity control section calculates a pre-limitation motor current command value by performing proportional compensation based on the target torsional angular velocity and the torsional angular velocity. An output limiting section limits upper and lower limit values of the pre-limitation motor current command value, and outputs the motor current command value which is used to control the motor.

Technical solutions are described for attenuating dither noise in a steering system. An example method includes computing multiple filter parameters, each filter parameter based on a corresponding signal in the steering system. The method further includes determining at least one final filter parameter from the plurality of filter parameters by arbitrating the plurality of filter parameters. The method further includes dynamically configuring a filter using the at least one final filter parameter. Further, the method includes filtering a motor torque command using the filter, a filtered motor torque command being applied to a motor to generate a corresponding amount of torque.

Technical solutions are described for attenuating dither noise in a steering system. An example method includes computing multiple filter parameters, each filter parameter based on a corresponding signal in the steering system. The method further includes determining at least one final filter parameter from the plurality of filter parameters by arbitrating the plurality of filter parameters. The method further includes dynamically configuring a filter using the at least one final filter parameter. Further, the method includes filtering a motor torque command using the filter, a filtered motor torque command being applied to a motor to generate a corresponding amount of torque.