US 12,139,197 B1
Steering control method and steering device
Shintaro Osajima, Kanagawa (JP); Daisuke Hiramatsu, Kanagawa (JP); Genpei Nakasone, Nisshin (JP); Satoshi Anzai, Nara (JP); Tomohisa Ueki, Nara (JP); and Yuji Sasai, Okazaki (JP)
Assigned to Nissan Motor Co., Ltd., Yokohama (JP); and JTEKT CORPORATION, Kariya (JP)
Appl. No. 18/691,478
Filed by Nissan Motor Co., Ltd., Yokohama (JP); and JTEKT CORPORATION, Kariya (JP)
PCT Filed Jul. 22, 2022, PCT No. PCT/JP2022/028497
§ 371(c)(1), (2) Date Mar. 13, 2024,
PCT Pub. No. WO2023/062907, PCT Pub. Date Apr. 20, 2023.
Claims priority of application No. 2021-167227 (JP), filed on Oct. 12, 2021.
Int. Cl. B62D 15/02 (2006.01); B62D 5/04 (2006.01); B62D 6/00 (2006.01)
CPC B62D 15/0265 (2013.01) [B62D 5/0463 (2013.01); B62D 6/002 (2013.01)] 9 Claims
OG exemplary drawing
 
1. A steering control method comprising:
detecting a current state that is the current state of a vehicle;
setting a target state that is the target state of the vehicle;
setting a basic steering command value based on a difference between the current state and the target state;
calculating a first steering command value and a second steering command value having a relative time difference between them as steering command values for driving a steering mechanism for steering steered wheels of the vehicle by distributing the basic steering command value between the first steering command value and the second steering command value in a prescribed ratio; and
driving a first steering motor that drives the steering mechanism based on the first steering command value, and a second steering motor that drives the steering mechanism based on the second steering command value.