Patent ID: 9718492
Date: 2017-08-01
CPC Classifications: B62D

Claim:
1. An electric power steering apparatus comprising: a basic assist torque calculating unit configured to generate a basic assist torque command value for providing assist torque to a steering system according to steering torque applied to a steering shaft through an operation of a steering wheel by a driver; a target turning angle calculating unit configured to determine a target turning angle depending on input torque that is at least either the basic assist torque command value or the steering torque; a turning angle feedback control unit configured to generate an assist torque correction value for controlling an actual turning angle of a vehicle to be the target turning angle, wherein the turning angle feedback control unit executes feedback control so as for the actual turning angle to be the target turning angle through adjustment to a magnitude of the assist torque correction value; a steering force provider configured to provide assist torque to the steering system based on a value obtained by adding the assist torque correction value to the basic assist torque command value; and an end touch determination device configured to determine that the steering apparatus is in an end touching state where an end portion of a rack shaft of the steering system touches against an end by the operation of the steering wheel and a steerable wheel reaches a maximum angle position or a minimum angle position in a range of movement of the steerable wheel, when an angle deviation between the actual turning angle and the target turning angle exceeds a threshold.