US 12,286,170 B2
Steering-angle control apparatus
Yuusuke Otogawa, Kariya (JP); Motoaki Kataoka, Kariya (JP); and Haruo Suzuki, Kariya (JP)
Assigned to DENSO CORPORATION, Kariya (JP)
Filed by DENSO CORPORATION, Kariya (JP)
Filed on Aug. 23, 2022, as Appl. No. 17/821,499.
Application 17/821,499 is a continuation of application No. PCT/JP2021/002048, filed on Jan. 21, 2021.
Claims priority of application No. 2020-033629 (JP), filed on Feb. 28, 2020.
Prior Publication US 2022/0402542 A1, Dec. 22, 2022
Int. Cl. B62D 5/04 (2006.01); B62D 6/00 (2006.01)
CPC B62D 5/0463 (2013.01) [B62D 6/008 (2013.01)] 10 Claims
OG exemplary drawing
 
1. A steering-angle control apparatus configured to control a steering mechanism based on a state command value, which is input in each predetermined period, the steering-angle control apparatus comprising:
an interpolation unit configured to interpolate between a previous value and a current value of the input state command value to compute a state interpolation value in an interpolation period, which is shorter than the predetermined period;
an interpolation-value determination unit configured to determine whether the state interpolation value is an abnormal value; and
a control unit configured to
control the steering mechanism based on the state interpolation value computed by the interpolation unit when the interpolation-value determination unit determines that the state interpolation value is not an abnormal value and
control the steering mechanism based on the current value of the state command value when the interpolation-value determination unit determines that the state interpolation value is an abnormal value.