Patent ID: 11964713
Assignee: NSK LTD.
Field: Transport (Mechanical engineering)
Classification: CPC B | IPC B

Claim 13:
14. The vehicle steering device according to claim 10, wherein
the end steering angle setting unit further comprises a change amount restriction unit configured to restrict the change amount of the end steering angle,
the end steering angle calculation unit outputs the basic end steering angle when the absolute value of the steering angle is smaller than the basic end steering angle,
outputs the absolute value of the steering angle when the absolute value of the steering angle is equal to or larger than the basic end steering angle and the absolute value of the steering angle is smaller than a previous value of the end steering angle, and
outputs the previous value of the end steering angle when the absolute value of the steering angle is equal to or larger than the basic end steering angle and the absolute value of the steering angle is equal to or larger than the previous value of the end steering angle, and
the change amount restriction unit outputs the end steering angle when the absolute value of the difference value between the end steering angle and the previous value of the end steering angle is smaller than a predetermined second threshold value,
adds the second threshold value to the previous value of the end steering angle and outputs a result of the addition when the absolute value of the difference value between the end steering angle and the previous value of the end steering angle is equal to or larger than the second threshold value and a value obtained by subtracting the previous value of the end steering angle from the end steering angle is equal to or larger than the second threshold value, and
subtracts the second threshold value from the previous value of the end steering angle and outputs a result of the subtraction when the absolute value of the difference value between the end steering angle and the previous value of the end steering angle is equal to or larger than the second threshold value and the value obtained by subtracting the previous value of the end steering angle from the end steering angle is smaller than the second threshold value.