{
  "$type": "site.standard.document",
  "coverImage": {
    "$type": "blob",
    "ref": {
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    "mimeType": "image/png",
    "size": 76132
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  "description": "A steering system is provided which more appropriately alleviates driver's discomfort in the wrists. A steering ECU 40 has an estimated grip angle calculating circuit 41, a deviation calculating circuit 42, an automatic steering torque command value calculating circuit 43, and a grip angle command…",
  "path": "/patents/929134",
  "publishedAt": "2017-03-22T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B62D1/04",
    "JTEKT CORP [JP]"
  ],
  "textContent": "A steering system is provided which more appropriately alleviates driver's discomfort in the wrists. A steering ECU 40 has an estimated grip angle calculating circuit 41, a deviation calculating circuit 42, an automatic steering torque command value calculating circuit 43, and a grip angle command value calculating circuit 44. The estimated grip angle calculating circuit 41 calculates an estimated grip angle θ2e based on a steering angle θ1. The deviation calculating circuit 42 calculates a deviation dθg based on the steering angle θ1, a steering angle deviation dθs, and the estimated grip angle θ2e. The grip angle command value calculating circuit 44 calculates a grip angle command value θg* that is a sum of a grip angle θ2 and the deviation dθg.",
  "title": "STEERING SYSTEM"
}