Patent ID: 9463827
Filing Date: 2016-10-11
CPC Classification: B62D

Claim Text:
1. An electric power steering apparatus; comprising: a steering member of a vehicle; an assist motor configured apply a steering assist force to the steering member in accordance with a steering force acting on the steering member; a measured-yaw-rate acquiring unit that acquires a measured yaw rate of the vehicle; a vehicle-speed detecting unit that detects a speed of the vehicle; a steering-angle detecting unit that detects a steering angle of the steering member; a steering-angle standard yaw-rate calculating unit that calculates a steering-angle standard yaw rate from the speed of the vehicle and the steering angle of the steering member; and a torque estimating apparatus that estimates a self-aligning torque occurring on a steered wheel of the vehicle, on the basis of (i) the speed of the vehicle and (ii) either of the measured yaw rate or the steering-angle standard yaw rate, whichever is smaller, and that corrects the steering assist force on the basis of the estimated self-aligning torque, the corrected steering assist force being applied to the steering member through the assist motor.