Abstract: An electric power steering apparatus that reduces uncomfortable feeling to a driver in steering angle control by improving followability of an actual steering angle to a target steering angle, and performs efficient damping to a vibration of a vehicle. The apparatus includes a torque control section that calculates a first motor current command value based on a steering torque and so on, a target steering angle generating section that generates a target steering angle based on vehicle information, and a steering angle control section that calculates a second motor current command value based on the target steering angle, an actual steering angle and so on, and calculates the motor current command value by the first and second motor current command values.

Abstract: An electric power steering apparatus that enables more precise estimation of a coil temperature by considering a heat transfer phenomenon between a control substrate and a poly-phase coil in addition to a heat transfer phenomenon between respective phases of the coil. The apparatus includes a control substrate that controls a poly-phase motor, a temperature sensor that detects a substrate temperature of the control substrate and a coil temperature estimating section that estimates coil temperatures of respective phases of the poly-phase motor by a motor current of the phase and the substrate temperature based on a heat transfer phenomenon between the respective phases that is caused by a difference in temperature between coils of the respective phases and a heat transfer phenomenon between the coil and the control substrate.

Abstract: When a steering operation by a driver intervenes during autonomous driving of a vehicle, the intervention operation is fully reflected and a feeling of strangeness and a feeling of discomfort that may be given to the driver are reduced. An ECU of an electric power steering apparatus includes: a steering angle control section; an assist control section; and a switching determination/gradual change gain generating section, by which a steering angle control output and an assist control output are multiplied, and multiplies a gradual change gain to make a switching determination between a steering angle control mode and an assist control mode.

Abstract: An electric power steering apparatus that easily obtains equivalent steering torques to vehicle 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 apparatus includes a torsion bar provided in a column shaft of a steering wheel of a vehicle, and assist-controls a steering system by driving and controlling a motor connected to the column shaft based on a current command value. A target steering torque generating section generates a target steering torque based on vehicle driving information, a converting section converts the target steering torque into a target torsional angle, and a torsional angle control section calculates the current command value so that a torsional angle of the torsion bar follows the target torsional angle; and performs a control so that a detection torque of the torsion bar follows a value depending on driving information.

Abstract: To provide a drive information recording device capable of recording drive information including steering torque, a steering angle, and flag information capable of recognizing whether or not automatic driving control is performed, as drive information related to steering, and an electric power steering device including the same. A drive information recording device includes a storage device, a camera, an impact detection sensor, a display device, and a drive information recording control unit, and the drive information recording control unit records, in the storage device, drive information in which information including inputted steering torque, vehicle speed, input shaft rotational angle, output shaft rotational angle, motor rotational angle, first current command value and second current command value, steering angle, steering angle command value, and a mode flag is associated with inputted captured image data.

Abstract: [Problem] An object of the present invention is to provide an electric power steering apparatus that achieves a manual steering even if a steering intervention is performed by a driver during an automatic steering, ensures more safety when a driver steers urgently, and enables both an assist control and a steering angle control.

Abstract: An electric power steering apparatus that enables more precise estimation of a coil temperature by considering a heat transfer phenomenon between a control substrate and a poly-phase coil in addition to a heat transfer phenomenon between respective phases of the coil. The apparatus includes a control substrate that controls a poly-phase motor, a temperature sensor that detects a substrate temperature of the control substrate and a coil temperature estimating section that estimates coil temperatures of respective phases of the poly-phase motor by a motor current of the phase and the substrate temperature based on a heat transfer phenomenon between the respective phases that is caused by a difference in temperature between coils of the respective phases and a heat transfer phenomenon between the coil and the control substrate.

Abstract: [Problem] An object of the present invention is to provide an electric power steering apparatus that enables more precise estimation of a coil temperature by considering a heat transfer phenomenon between a control substrate and a coil in addition to a heat transfer phenomenon between respective phases of a poly-phase coil for a poly-phase motor having a multi-system motor winding, and enables the estimation of the coil temperature even when an abnormality occurs in any of the systems.

Abstract: An electric power steering apparatus that reduces uncomfortable feeling to a driver in steering angle control by improving followability of an actual steering angle to a target steering angle, and performs efficient damping to a vibration of a vehicle. The apparatus includes a torque control section that calculates a first motor current command value based on a steering torque and so on, a target steering angle generating section that generates a target steering angle based on vehicle information, and a steering angle control section that calculates a second motor current command value based on the target steering angle, an actual steering angle and so on, and calculates the motor current command value by the first and second motor current command values.

Abstract: When a steering operation by a driver intervenes during autonomous driving of a vehicle, the intervention operation is fully reflected and a feeling of strangeness and a feeling of discomfort that may be given to the driver are reduced. An ECU of an electric power steering apparatus includes: a steering angle control section 200 to which a steering angle command value is input to control a steering angle; an assist control section 147 to which an assist map gradual change gain is input to output an assist control output gradual change gain; and a switching determination/gradual change gain generating section 145 that generates a gradual change gain, by which steering angle control output and assist control output are multiplied, and multiplies the gradual change gain to make a switching determination between a steering angle control mode by the steering angle control section 200 and an assist control mode by the assist control section 147.

Abstract: [Problem] An object of the present invention is to provide an electric power steering apparatus that enables more precise estimation of a coil temperature for a poly-phase motor by considering a heat transfer phenomenon between a control substrate and a coil in addition to a heat transfer phenomenon between the coils. [Means for solving the problem] An electric power steering apparatus that comprises a control substrate that controls a poly-phase motor having two-system motor windings, comprises a temperature sensor that detects a substrate temperature of the control substrate, and a coil temperature estimating section that estimates all coil temperatures by all motor currents of the poly-phase motor and the substrate temperature based on a heat transfer phenomenon between all coils that is caused by a difference in temperature between the all coils and a heat transfer phenomenon between the coil and the control substrate.

Abstract: [Problem] An object of the present invention is to provide an electric power steering apparatus that achieves manual steering even if steering intervention is performed by a driver during automatic steering, ensures more safety when the driver steers urgently, and enables both assist control and steering angle control.

Abstract: [Problem] An object of the present invention is to provide an electric power steering apparatus 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.

Abstract: There is provided a control device for an electric power steering device, which determines an estimate of a steering angle without using an expensive angle sensor to realize highly accurate steering angle control using the determined estimate of the steering angle. A steering angle calculating section 201 acquires a motor rotation angle ?s (i.e., motor angle ?) output from a rotation sensor and acquires a steering torque Tt output from a torque sensor in a steering angle control mode. The steering angle calculating section 201 determines an estimate ?r of an actual steering angle using the acquired motor angle ? and steering torque Tt to realize highly accurate steering angle control using the determined estimate ?r of the actual steering angle.

Abstract: An electric power steering apparatus that has a function to switch an assist mode and an automatic mode, and comprises a handle vibration removing section to cut off frequency components near a predetermined central frequency with reference to a target steering angle, a position control section to output a motor angular velocity command value, an integration section to integrate a deviation between the motor angular velocity command value and a motor angular velocity, a proportion section to input the motor angular velocity, and a velocity control section to output the motor current command value by subtracting an output of the proportion section from an output of the integration section, thereby to remove the vibration being caused by spring characteristics of a torsion bar and inertia moment of a steering wheel in the automatic mode.

Abstract: When a steering operation by a driver intervenes during autonomous driving of a vehicle, the intervention operation is fully reflected and a feeling of strangeness and a feeling of discomfort that may be given to the driver are reduced. In order to attain this, an ECU of an electric power steering apparatus includes: a steering angle control section 200 to which a steering angle command value is input to control a steering angle; an assist control section 147 to which an assist map gradual change gain is input to output an assist control output gradual change gain; and a switching determination/gradual change gain generating section 145 that generates a gradual change gain, by which steering angle control output and assist control output are multiplied, and multiplies the gradual change gain to make a switching determination between a steering angle control mode by the steering angle control section 200 and an assist control mode by the assist control section 147.

Abstract: A tuning device of an electric power steering apparatus assisting steering based on the correspondence relationship between a steering torque and a steering auxiliary command value according to the steering torque. The tuning device receives a plurality of candidate points represented by a steering torque and a candidate value of the steering auxiliary command value according to the steering torque, calculates a high order polynomial approximating the plurality of candidate points, calculates a plurality of adjustment points, the number of which is larger than the plurality of candidate points and which are represented by the steering torque and the steering auxiliary command value according to the steering torque, based on the high order polynomial, calculates a plurality of linear functions connecting two adjacent points in the plurality of adjustment points, and outputs information on the plurality of linear functions in order to adjust the correspondence relationship.

Abstract: There is provided a control device for an electric power steering device, which determines an estimate of a steering angle instead of using an angle sensor when any abnormality is detected in the angle sensor to perform steering angle control using the determined estimate of the steering angle. When it is determined that the detected steering angle is normal based on a steering angle abnormality determination signal Flg_?h, a steering angle calculating section 201 outputs a steering-wheel angle ?h as an actual steering angle ?r, while when it is determined that the detected steering angle is abnormal, the steering angle calculating section 201 determines and outputs an estimate ?r of an actual steering angle using a past value Z?r of the actual steering angle under normal conditions, a motor relative angle ??m, and a relative twist angle ?? of a torsion bar.

Abstract: An electric power steering apparatus that achieves a manual steering even if a steering intervention is performed by a driver during an automatic steering, ensures more safety when a driver steers urgently, and enables both an assist control and a steering angle control. The apparatus includes a steering angle control section that calculates a steering angle control current command value for the steering angle control, and calculates the current command value using at least the steering angle control current command value; this control section has a position control section to calculate a basic steering angular velocity command value, a steering intervention compensating section to obtain a compensatory steering angular velocity command value, and a steering angular velocity control section to calculate a steering angle control current command value with the basic steering angular velocity command value, the compensatory steering angular velocity command value and an actual steering angular velocity.

Abstract: [Problem] An object of the present invention is to provide an electric power steering apparatus that gradual-changes a steering angle control command value, an assist control command value and also a steering angle speed command value, suppresses an excessive accumulation of an integral value in a speed control by being provided a steering speed command value with a limiter, and does not give the driver an uncomfortable feeling.