Abstract: A steering angle calculation apparatus includes an electronic control unit configured to calculate a steering angle based on a torque caused by a driver and at least one of vehicle information, surrounding environment information, and driver information.

Abstract: A motor controlling ECU 202 includes an automatic steering controller 42 that sets an automatic steering control amount, an assist controller 41 that sets an assist control amount, an integrated control amount calculating portion 43 that calculates an integrated control amount by adding the automatic steering control amount and the assist control amount, and an actual automatic steering angle calculating portion 46 that calculates, based on at least one of either of a steering torque and the assist control amount, an actual automatic steering angle that is a steering angle due to automatic steering control and included in an actual steering angle. The automatic steering controller 42 uses a target automatic steering angle and the actual automatic steering angle to set the automatic steering control amount.

Abstract: A steering system includes an electric motor, a detector, and a controller of a vehicle. The controller is configured to control the electric motor by switching an autonomous steering mode, a manual steering mode, and a cooperative steering mode. The controller is configured to control the electric motor in the cooperative steering mode unconditionally or when a predetermined condition is satisfied in a case where a situation to switch a steering mode to the manual steering mode during control in the autonomous steering mode is predicted and a manual steering request is transmitted at a time point that is prior, by a first predetermined time, to occurrence of the situation, or is transmitted when the vehicle arrives at a point that is located a first predetermined distance before a point where the situation is to occur.

Abstract: A manual steering command value generation unit generates a manual steering command value using steering torque. An integrated angle command value computation unit computes an integrated angle command value by adding the manual steering command value to an automatic steering command value. A control unit performs angle control on an electric motor on the basis of the integrated angle command value. The control unit includes: a basic torque command value computation unit that computes a basic torque command value on the basis of the integrated angle command value; a disturbance torque estimation unit that estimates disturbance torque other than motor torque that is generated by the electric motor and acts on an object to be driven by the electric motor; and a disturbance torque compensation unit that corrects the basic torque command value in accordance with the disturbance torque.

Abstract: A motor controlling ECU includes an automatic steering controller that sets an automatic steering control amount, an assist controller that sets an assist control amount, an integrated control amount calculating portion that calculates an integrated control amount by adding the automatic steering control amount and the assist control amount, and an actual automatic steering angle calculating portion that calculates, based on at least one of either of a steering torque and the assist control amount, an actual automatic steering angle that is a steering angle due to automatic steering control and included in an actual steering angle. The automatic steering controller uses a target automatic steering angle and the actual automatic steering angle to set the automatic steering control amount.

Abstract: A steering angle calculation apparatus includes an electronic control unit configured to calculate a steering angle based on a torque caused by a driver and at least one of vehicle information, surrounding environment information, and driver information.

Abstract: A steering system includes an electric motor, a detector, and a controller of a vehicle. The controller is configured to control the electric motor by switching an autonomous steering mode, a manual steering mode, and a cooperative steering mode. The controller is configured to control the electric motor in the cooperative steering mode unconditionally or when a predetermined condition is satisfied in a case where a situation to switch a steering mode to the manual steering mode during control in the autonomous steering mode is predicted and a manual steering request is transmitted at a time point that is prior, by a first predetermined time, to occurrence of the situation, or is transmitted when the vehicle arrives at a point that is located a first predetermined distance before a point where the situation is to occur.

Abstract: A manual steering command value generation unit generates a manual steering command value using steering torque. An integrated angle command value computation unit computes an integrated angle command value by adding the manual steering command value to an automatic steering command value. A control unit performs angle control on an electric motor on the basis of the integrated angle command value. The control unit includes: a basic torque command value computation unit that computes a basic torque command value on the basis of the integrated angle command value; a disturbance torque estimation unit that estimates disturbance torque other than motor torque that is generated by the electric motor and acts on an object to be driven by the electric motor; and a disturbance torque compensation unit that corrects the basic torque command value in accordance with the disturbance torque.