Motor controller
First Claim
1. A motor controller comprising:
- an assist controller generating an assist instruction to generate an assist torque that lightens a steering load based on a detection value of a steering torque;
a follow controller obtaining a target value of a physical quantity regarding a steering operation and enabling a detection value of the physical quantity to follow the obtained target value, the following of the detection value of the physical quantity to the obtained target value is achieved by a follow instruction that generates an automatic steering torque;
a motor driver driving, according to a summation value of the assist instruction and the follow instruction, a motor that generates the assist torque and the automatic steering torque; and
an intervention detector detecting a driver intervention in a follow control by the follow controller or a system intervention in an assist control by a system that involves a generation of the obtained target value of the physical quantity, whereinthe follow controller changes a degree of responsiveness of the assist control or the follow control according to a degree of intervention detected by the intervention detector.
1 Assignment
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Accused Products
Abstract
A motor controller has an assist controller generating an assist instruction for a generation of an assist torque based on a detection value of a steering torque, a follow controller obtaining a target value of a physical quantity regarding a steering operation and generating a follow instruction, and a motor driver driving, according to a sum of the assist instruction and the follow instruction, a motor that generates the assist torque and an automatic steering toque. In addition, the follow controller changes, according to a degree of intervention by a driver that is detected by an intervention detector, responsiveness of the follow control, making it possible to naturally hand over a motor control to the driver or to a system when the driver or the system intervenes a current control of the motor that generates the assist torque and/or the steering torque.
14 Citations
6 Claims
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1. A motor controller comprising:
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an assist controller generating an assist instruction to generate an assist torque that lightens a steering load based on a detection value of a steering torque; a follow controller obtaining a target value of a physical quantity regarding a steering operation and enabling a detection value of the physical quantity to follow the obtained target value, the following of the detection value of the physical quantity to the obtained target value is achieved by a follow instruction that generates an automatic steering torque; a motor driver driving, according to a summation value of the assist instruction and the follow instruction, a motor that generates the assist torque and the automatic steering torque; and an intervention detector detecting a driver intervention in a follow control by the follow controller or a system intervention in an assist control by a system that involves a generation of the obtained target value of the physical quantity, wherein the follow controller changes a degree of responsiveness of the assist control or the follow control according to a degree of intervention detected by the intervention detector. - View Dependent Claims (2, 3, 4, 5, 6)
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Specification