{
  "$type": "site.standard.document",
  "coverImage": {
    "$type": "blob",
    "ref": {
      "$link": "bafkreie6zx3bjv6tu3gps3nw2ufjmznvq4cijbqfr5oceoqrls3gv53n24"
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    "mimeType": "image/png",
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  "description": "An apparatus may include a driving information input unit for receiving driving information generated while a vehicle travels, a steering angle location control unit for receiving a command steering angle for autonomous driving and a current motor steering angle of a driving motor and outputting an…",
  "path": "/patents/1284754",
  "publishedAt": "2021-03-04T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60W60/0053",
    "HYUNDAI MOBIS CO., LTD."
  ],
  "textContent": "An apparatus may include a driving information input unit for receiving driving information generated while a vehicle travels, a steering angle location control unit for receiving a command steering angle for autonomous driving and a current motor steering angle of a driving motor and outputting an autonomous driving command through location control, and a motor-driven power steering control unit for driving the driving motor based on the autonomous driving command in an autonomous driving mode, determining whether a driver intervenes in steering, based on the driving information during the autonomous driving, computing a driver command according to the driver' steering based on a result of the determination, computing a compensation output between the autonomous driving command and the driver command by applying a weighting according to a steering angular speed, and making a mode transition from the autonomous driving mode to a driver mode while driving the driving motor.",
  "title": "APPARATUS AND METHOD FOR CONTROLLING MOTOR-DRIVEN POWER STEERING APPARATUS"
}