Patent ID: 9623899
Date: 2017-04-18
CPC Classifications: B60W,B62D,G05D

Claim:
1. An electric power steering apparatus that calculates a first motor current command value based on a steering torque and a vehicle speed, performs an assist control of a steering system by driving a motor on a basis of said first motor current command value, and has a function for switching between an automatic steering mode and a manual steering mode, comprising: a steering angle control section that calculates a second motor current command value so as to bring an actual steering angle close to a target steering angle; a torque integral judging section to output a steering torque judging signal by integrating said steering torque and comparing with a predetermined threshold; an a switching section that inputs said first motor current command value and said second motor current command value, and is switched by a switching signal or said steering torque judging signal,