Patent ID: 9586619
Date: 2017-03-07
CPC Classifications: B62D

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, 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.