Abstract: A controller includes a control circuit configured to calculate a target corresponding steered angle that is a target value of a corresponding steered angle based on the transmission ratio associated with the vehicle speed. The corresponding steered angle is a rotation angle of a rotation shaft, which is convertible to the steered angle whose magnitude is changed relative to a value indicating the steering angle. The control circuit is configured to control the actuation of the motor so that an actual corresponding steered angle is a final target corresponding steered angle that is based on the target corresponding steered angle. The control circuit is configured to calculate the target corresponding steered angle by adjusting the transmission ratio based on a value indicating acceleration or deceleration of a vehicle.

Abstract: An estimated axial force computation circuit of a control device has an axial force computation circuit that computes an axial force that acts on a steered shaft on the basis of a current value of a steering motor. The estimated axial force computation circuit has a friction compensation circuit, an efficiency compensation circuit, and a gradient compensation circuit as static characteristic computation circuits that compensate for an effect of the static characteristics of a steering mechanism on the axial force computed. The estimated axial force computation circuit has a filter as a dynamic characteristic computation circuit that compensates for an effect of the dynamic characteristics of the steering mechanism. The filter removes, from the axial force, an effect of the viscosity and the inertia of the steering motor. The axial force after compensation is used to control a reaction force motor.

Abstract: A control steered angle calculation unit includes: an end position determination unit that determines whether a rack shaft is located at either one of right and left rack end positions; a motor absolute angle calculation unit that detects a motor absolute angle; an end position-corresponding motor angle setting unit that, when the rack shaft is determined to be located at either one of the right and left rack end positions, sets the detected motor absolute angle as an end position-corresponding motor angle corresponding to the one of the right and left rack end positions; and a control steered angle origin setting unit that calculates an average value of right and left end position-corresponding motor angles as an offset angle, and sets an angle obtained by subtracting the offset angle from the detected motor absolute angle as an origin of the control steered angle represented by the motor ab solute angle.

Abstract: A control apparatus calculates an axial force deviation, which is a difference between an estimated axial force and an ideal axial force based on a target pinion angle of a pinion shaft in association with a turning operation of steered wheels. The estimated axial force is based on a state variable that reflects vehicle behavior or a road condition. The control apparatus includes a steering angle ratio change control circuit configured to calculate a target pinion angle serving as a basis for calculation of the command value. The steering angle ratio change control circuit calculates a speed increasing ratio from a steering angle ratio set based on a vehicle speed and a base gear ratio of a steering mechanism, and calculates a correction angle for a target steering angle by multiplying the speed increasing ratio and the target steering angle together.

Abstract: An emissions control substrate for treating exhaust from an engine including a plurality of hexagonal cells extending between a first end and a second end of the substrate. Wash coats are at an interior of the hexagonal cells. At an inner region of the substrate through which a longitudinal axis of the emissions control substrate extends, for every group of three adjacent hexagonal cells of the plurality of hexagonal cells two are plugged at the first end and open at the second end, and one is open at the first end and plugged at the second end. At an outer region of the substrate surrounding the inner region, for every group of three adjacent hexagonal cells of the plurality of hexagonal cells, one is plugged at the first end and open at the second end, and two are open at the first end and plugged at the second end.

Abstract: A controller includes a control circuit configured to calculate a target corresponding steered angle that is a target value of a corresponding steered angle based on the transmission ratio associated with the vehicle speed. The corresponding steered angle is a rotation angle of a rotation shaft, which is convertible to the steered angle whose magnitude is changed relative to a value indicating the steering angle. The control circuit is configured to control the actuation of the motor so that an actual corresponding steered angle is a final target corresponding steered angle that is based on the target corresponding steered angle. The control circuit is configured to calculate the target corresponding steered angle by adjusting the transmission ratio based on a value indicating acceleration or deceleration of a vehicle.

Abstract: A steering control apparatus includes an electronic control unit. The electronic control unit computes a first component of a command value. The electronic control unit computes a target rotation angle of a rotatable element based on an input torque. The rotatable element rotates with an operation of the steering wheel. The electronic control unit computes a second component of the command value through feedback control. The electronic control unit computes an ideal axial force based on the target rotation angle. The electronic control unit shifts the ideal axial force as a function of a cross slope, which is a slope in a direction that intersects at right angles with a road, in a specified direction with reference to a neutral value of the ideal axial force, associated with a state where the vehicle travels straight ahead.

Abstract: An ECU includes a deviation calculating circuit an assist control circuit, an automatic steering control circuit including an intervention determination switching circuit, an adder, a current command value calculating circuit The intervention determination switching circuit includes a count amount calculating circuit, an adder, an immediately-preceding count amount output circuit, a switching determination circuit, and an output switching circuit. The count amount calculating circuit calculates a count amount having a positive value or a negative value based on a steering torque absolute value calculated by an absolute value switching circuit. The adder calculates a total count amount that is the total sum of a presently calculated count amount and an immediately-preceding count amount calculated in an immediately-preceding calculation cycle.

Abstract: An emissions control substrate for treating exhaust from an engine including a plurality of hexagonal cells extending between a first end and a second end of the substrate. Wash coats are at an interior of the hexagonal cells. At an inner region of the substrate through which a longitudinal axis of the emissions control substrate extends, for every group of three adjacent hexagonal cells of the plurality of hexagonal cells two are plugged at the first end and open at the second end, and one is open at the first end and plugged at the second end. At an outer region of the substrate surrounding the inner region, for every group of three adjacent hexagonal cells of the plurality of hexagonal cells, one is plugged at the first end and open at the second end, and two are open at the first end and plugged at the second end.

Abstract: A control apparatus calculates an axial force deviation, which is a difference between an estimated axial force and an ideal axial force based on a target pinion angle of a pinion shaft in association with a turning operation of steered wheels. The estimated axial force is based on a state variable that reflects vehicle behavior or a road condition. The control apparatus includes a steering angle ratio change control circuit configured to calculate a target pinion angle serving as a basis for calculation of the command value. The steering angle ratio change control circuit calculates a speed increasing ratio from a steering angle ratio set based on a vehicle speed and a base gear ratio of a steering mechanism, and calculates a correction angle for a target steering angle by multiplying the speed increasing ratio and the target steering angle together.

Abstract: A new and distinct variety of Citrus L. plant named ‘ASUKI’, characterized by being late-maturing, having high brix and excellent taste, being easy to eat because of its soft segment membrane, having no occurrence of fruit rind puffing, and having less dripping of fruit juice.

Abstract: A control steered angle calculation unit includes: an end position determination unit that determines whether a rack shaft is located at either one of right and left rack end positions; a motor absolute angle calculation unit that detects a motor absolute angle; an end position-corresponding motor angle setting unit that, when the rack shaft is determined to be located at either one of the right and left rack end positions, sets the detected motor absolute angle as an end position-corresponding motor angle corresponding to the one of the right and left rack end positions; and a control steered angle origin setting unit that calculates an average value of right and left end position-corresponding motor angles as an offset angle, and sets an angle obtained by subtracting the offset angle from the detected motor absolute angle as an origin of the control steered angle represented by the motor ab solute angle.

Abstract: An estimated axial force computation circuit of a control device has an axial force computation circuit that computes an axial force that acts on a steered shaft on the basis of a current value of a steering motor. The estimated axial force computation circuit has a friction compensation circuit, an efficiency compensation circuit, and a gradient compensation circuit as static characteristic computation circuits that compensate for an effect of the static characteristics of a steering mechanism on the axial force computed. The estimated axial force computation circuit has a filter as a dynamic characteristic computation circuit that compensates for an effect of the dynamic characteristics of the steering mechanism. The filter removes, from the axial force, an effect of the viscosity and the inertia of the steering motor. The axial force after compensation is used to control a reaction force motor.

Abstract: Provided is an electric power steering system that achieves a more appropriate steering feel. An ECU of the electric power steering system calculates a basic assist component and a target pinion angle based on at least steering torque. The ECU calculates a correction component for the basic assist component through feedback control in which an actual pinion angle is caused to match the target pinion angle. The ECU calculates an assist command value by adding the correction component to the basic assist component. The ECU corrects a hysteresis controlled variable and a viscosity component according to the rate of change (gradient) in a spring component with respect to a change in absolute value of the target pinion angle. Specifically, the ECU multiplies the hysteresis controlled variable and the viscosity component by gains that have a larger value as the rate of change in spring component increases.

Abstract: An ECU includes a deviation calculating circuit an assist control circuit, an automatic steering control circuit including an intervention determination switching circuit, an adder, a current command value calculating circuit The intervention determination switching circuit includes a count amount calculating circuit, an adder, an immediately-preceding count amount output circuit, a switching determination circuit, and an output switching circuit. The count amount calculating circuit calculates a count amount having a positive value or a negative value based on a steering torque absolute value calculated by an absolute value switching circuit. The adder calculates a total count amount that is the total sum of a presently calculated count amount and an immediately-preceding count amount calculated in an immediately-preceding calculation cycle.

Abstract: An end determination unit determines that a steering apparatus is in an end touching state when an angle deviation, which is a difference between an actual turning angle and a target turning angle, exceeds a threshold. This angle deviation exceeds the threshold before a large axial force is generated in a steering shaft. Accordingly, is it possible to determine that the steering apparatus is in the end touching state more quickly.

Abstract: A control device in an electric power steering device calculates a first assist component based on steering torque and a vehicle speed. The control device also calculates a compensation component associated with an reverse input and calculates a steered angle command value based on an addition value of the compensation component and basic drive torque that is an addition value of the steering torque and the first assist component, produces a second assist component by performing steered angle feedback control that causes the steered angle of a vehicle to follow the steered angle command value. The control device controls drive of a motor based on an assist command value that is an addition value of the first assist component and the second assist component.

Abstract: Provided is an electric power steering system that achieves a more appropriate steering feel. An ECU of the electric power steering system calculates a basic assist component and a target pinion angle based on at least steering torque. The ECU calculates a correction component for the basic assist component through feedback control in which an actual pinion angle is caused to match the target pinion angle. The ECU calculates an assist command value by adding the correction component to the basic assist component. The ECU corrects a hysteresis controlled variable and a viscosity component according to the rate of change (gradient) in a spring component with respect to a change in absolute value of the target pinion angle. Specifically, the ECU multiplies the hysteresis controlled variable and the viscosity component by gains that have a larger value as the rate of change in spring component increases.

Abstract: There is provided an electric power steering system that makes it possible to improve the driver's steering feel, and that includes a controller that controls driving of a motor. The controller computes a first assist component based on a steering torque. The controller computes a torque command value based on a basic drive torque that is the sum of the steering torque and the first assist component, and computes an assist compensation component through feedback control based on the torque command value. The controller computes a steered angle command value based on a value obtained by adding the assist compensation component to the basic drive torque, and computes a second assist component through feedback control based on the steered angle command value. The controller controls driving of the motor based on an assist command value that is the sum of the first assist component and the second assist component.

Abstract: A new and distinct variety of Citrus L. plant named ‘ASUKI’, characterized by being late-maturing, having high brix and excellent taste, being easy to eat because of its soft segment membrane, having no occurrence of fruit rind puffing, and having less dripping of fruit juice.