Patent attributes
An electric power steering apparatus including a torque sensor to detect a steering torque and a motor control unit to control a motor that applies an assist torque to a steering system of a vehicle may include a function to switch a control system of the motor between a torque control system of a torque system to control a motor output torque and a position or speed control system of a steering angle system to control a steering angle of a steering in accordance with a predetermined switching trigger. Each of a steering angle command value and a steering angle speed of the position or speed control system and an assist torque level of the torque control system gradually change sensitive to the steering torque, when shifting from the torque control system to the position or speed control system.
