{
  "$type": "site.standard.document",
  "description": "A steering control apparatus includes: a command steering angle acceleration detector configured to detect a command steering angle acceleration, in an autonomous driving mode, using a command steering angle inputted from an autonomous driving system; an autonomous driving determiner configured to…",
  "path": "/patents/1302626",
  "publishedAt": "2021-10-21T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60W60/0053",
    "HYUNDAI MOBIS CO., LTD."
  ],
  "textContent": "A steering control apparatus includes: a command steering angle acceleration detector configured to detect a command steering angle acceleration, in an autonomous driving mode, using a command steering angle inputted from an autonomous driving system; an autonomous driving determiner configured to determine whether to cancel the autonomous driving mode using any one or any combination of any two or more of a column torque of a steering shaft, a vehicle speed of a vehicle, and the command steering angle acceleration; and a steering angle controller configured to control a steering angle, in the autonomous driving mode, by adjusting a gain according to a steering angle error between the command steering angle and a current steering angle, based on an output from the command steering angle acceleration detector.",
  "title": "STEERING CONTROL APPARATUS AND METHOD IN AUTONOMOUS DRIVING MODE"
}