A cooperative control apparatus (20) for calculating an angular velocity control value for controlling a power steering apparatus (30) of a Smart Parking Assistant System (SPAS) comprising: a position controller (22) configured to have a target angular velocity to automatically calculate a vehicle to be controlled from a wheel steering angle inputted from a steering angle sensor (40) and a requested steering angle input from the SPAS (10), a limit setting unit (24) configured with respect to requested steering angle to calculate a requested steering angular velocity and, based thereon, a requested steering angular acceleration, and configured, when the requested steering angular acceleration exceeds an excessive requested limit setting value, the requested steering angle as an excessive steering angle and, based thereon, set an excessive target limit setting value for a reduction of the target angular velocity, a target angular velocity setting unit (26) configured, a final target angular velocity from the target angular velocity calculated by the position control unit (22) and set by the limit setting unit (24) to calculate an excessive target limit setting value and to convert the final target angular velocity to a final target engine angular velocity by means of a converter which converts the final target angular velocity to the final target engine angular velocity by applying a reduction ratio to the final target angular velocity, and a motor angular velocity control unit (28) configured , the angular velocity control value for controlling the motor-driven power steering device ( 30) from the final target motor angular velocity inputted from the target angular velocity setting unit (26) and an engine angular velocity input from an engine angle sensor (50), and output the calculated angular velocity control value to the motorized power steering device (30).
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