(19)
(11) EP 3 418 156 A8

(12) CORRECTED EUROPEAN PATENT APPLICATION
published in accordance with Art. 153(4) EPC

(15) Correction information:
Corrected version no 1 (W1 A1)

(48) Corrigendum issued on:
20.02.2019 Bulletin 2019/08

(43) Date of publication:
26.12.2018 Bulletin 2018/52

(21) Application number: 18747848.2

(22) Date of filing: 02.02.2018
(51) International Patent Classification (IPC): 
B62D 6/00(2006.01)
B62D 101/00(2006.01)
B62D 117/00(2006.01)
B62D 137/00(2006.01)
 B62D 5/04(2006.01)
B62D 113/00(2006.01)
B62D 119/00(2006.01)
(86) International application number:
PCT/JP2018/003589
(87) International publication number:
WO 2018/143408 (09.08.2018 Gazette 2018/32)
(84) Designated Contracting States:
AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR
Designated Extension States:
BA ME
Designated Validation States:
MA MD TN

(30) Priority: 03.02.2017 JP 2017018342
20.02.2017 JP 2017029274

(71) Applicant: NSK Ltd.
Tokyo 141-8560 (JP)

(72) Inventor:
  • TSUBAKI, Takahiro
    Maebashi-Shi Gunma 371-8527 (JP)

(74) Representative: Hoffmann Eitle 
Patent- und Rechtsanwälte PartmbB Arabellastraße 30
81925 München
81925 München (DE)

   


(54) ELECTRIC POWER STEERING DEVICE


(57) [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 per formed 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.
[Means for solving the problem]
An electric power steering apparatus comprises a steering angle control section that calculates a steering angle control current command value for the steering angle control based on at least a steering angle command value and an actual steering angle, the steering angle control section comprises a position control section that calculates a basic steering angular velocity command value, a steering intervention compensating section that obtains a compensatory steering angular velocity command value, a filter section that converts a steering angular velocity calculated from the basic steering angular velocity command value and the compensatory steering angular velocity command value into an extended steering angular velocity command value, and a steering angular velocity control section that calculates the steering angle control current command value based on the extended steering angular velocity command value and an actual steering angular velocity, wherein the steering intervention compensating section comprises a compensation map section, and obtains the compensatory steering angular velocity command value for the steering torque.