Abstract: A steering control device capable of transmitting road surface state to a driver is provided. An ideal vehicle model computes first spring reaction force torque based on a target pinion angle and second spring reaction force torque based on at least lateral acceleration as components of a spring component of a steering assist force. The ideal vehicle model combines the first and second spring reaction force torques with specified proportions of use to compute the spring component. The ideal vehicle model decides the proportions of use of the first and second spring reaction force torques on the basis of a distribution gain set in accordance with the difference value between the first and second spring reaction force torques. The ideal vehicle model increases the proportion of use of the second spring reaction force torque as the difference value between the first and second spring reaction force torques is increased.

Abstract: A method for estimating steering assistance provided by a power steering system of a vehicle may include correlating an internal torque applied by an adaptive steering system of the vehicle with an external torque applied to a steering assembly of the vehicle. The method may also include estimating the steering assistance based on the correlation.

Abstract: A vehicle electrical system has at least one vehicle distribution branch and at least one energy storage device. The system additionally has at least one switching device which is able to assume a first switching position and a second switching position. The at least one energy storage device is electrically connected to the at least one vehicle distribution branch in the first switching position. Furthermore, the at least one energy storage device is electrically separated from the at least one vehicle distribution branch in the second switching position. A control device controls the switching device by way of a control signal that can be generated by a pulse length modulator. A pulse width of the control signal can be adapted according to a momentary supply voltage of the switching device or a momentary temperature of the switching device.

Abstract: A coil spring modeling apparatus includes a first attachment member disposed on a lower spring seat, a second attachment member disposed on an upper spring seat, an actuator unit formed of a Stewart-platform-type parallel mechanism, a hydraulic pressure supply device, a torsion detection mechanism, and a controller. The torsion detection mechanism is constituted of displacement gauges such as a linear variable differential transformer. The displacement gauges are provided on hydraulic cylinders, and detect amounts of displacement relative to the reference lengths of the hydraulic cylinders, respectively. The controller calculates a relative torsional angle between the first attachment member and the second attachment member based on the detected displacement.

Abstract: A vehicle and a method of reducing sound produced by a liquid fluid pump are disclosed. A pump is activated when a predetermined event is detected. A control valve of the pump is operated in one of an initial and a standard mode when the pump is activated. The control valve is operable to allow a gaseous fluid to vent out of the pump when in the initial mode corresponding to the pump being in a first phase. The control valve is operable to allow a liquid fluid to move through the pump when in the standard mode corresponding to the pump being in a second phase. A solenoid of the control valve is energized and de-energized, at a calibrated frequency, in a sequence when in the initial mode to reduce the sound in the pump during the initial mode.

Abstract: The invention provides a steering system comprising a controlled element which is movable in a neutral area comprising a neutral position and in areas on opposite sides of the neutral area based on a steering input and a handle for requesting a desired position for the controlled element. The handle is movable between set-points in a center zone comprising a center set-point and set-points on opposite sides of the center zone. Furthermore, a steering unit is arranged to receive set-points from the handle, to determine a corresponding controlled position of the controlled element, and to move the controlled element to said controlled position. In order to prevent or reduce jerks, the steering unit is adapted to vary a speed by which the controlled element is moved to the controlled position. The speed is variable in dependence of the received set-point.

Abstract: A commercial vehicle comprises a functional arrangement comprising at least one drive motor for providing at least one working or operating function and a parameterisable electronic control arrangement configured to control the functional arrangement depending on a parameter dataset stored in the control arrangement. A data memory is provided, which is rigidly attached in the vehicle, separate from the control arrangement and in which at least one dataset relevant to the vehicle is stored or can be stored. The control arrangement is configured to read data of the dataset relevant to the vehicle from the data memory and/or to write data to the data memory for recording in the dataset relevant to the vehicle or to update the dataset relevant to the vehicle.

Abstract: In one embodiment, a method for steering system integrity testing includes positioning the vehicle with the second traction wheel within a first constraint; applying mechanical load to the first traction wheel; receiving data corresponding to a steering system operating condition; positioning the vehicle with the first traction wheel within a second constraint; applying mechanical load to the second traction wheel; receiving data corresponding to a steering system operating condition; positioning the vehicle with the first and second traction wheels on respective first and second friction surfaces; applying mechanical load to the first and second traction wheels; receiving data corresponding to a steering system operating condition; transmitting the data to a processor; and determining, via the processor, a health status of the steering system based on the data.

Abstract: A steering system for an agricultural vehicle has at least one steering cylinder for changing a steering angle of the agricultural vehicle, a hydraulic main steering valve for pressurizing the at least one steering cylinder, a steering transducer for actuating the main steering valve, a steering boost for controlling an adjustment characteristic between the steering transducer and the at least one steering cylinder and a sensor system for detecting an external signal of the agricultural vehicle. The steering boost controls the adjustment characteristic on the basis of the detected external signal.

Abstract: A steering gear component for a vehicle, comprising: a worm, which is mounted so as to be rotatably and axially non-displace able, wherein the worm has a ball screw for receiving a row of balls, and a ball nut, which is drivingly connected to the worm by way of the row of balls, and wherein the ball nut acts as a piston of a cylinder for steering force assistance, wherein a signal transmitter for a sensing element is arranged on the steering spindle and the sensing element is arranged on the worm, or wherein the sensing element is arranged on the steering spindle and the signal transmitter for the sensing element is arranged on the worm.

Abstract: A torque detecting device is adapted to be mounted to a torque transmitting device. The torque transmitting device includes rotatable input and output shafts. The torque detecting device includes input and output gears for being sleeved respectively on the input and output shafts and a planet gear unit that includes a ring gear meshing with the input gear, a sun gear disposed in the ring gear, a carrier gear meshing with the output gear, and a plurality of planet gears. The planet gears are coupled rotatably to the carrier gear, are disposed between the sun and ring gears, and mesh with the ring and sun gears such that, when the input gear is rotated relative to the output gear by an angle, the sun gear is driven to rotate reversely by a larger angle.

Abstract: A vehicle suspension apparatus is constructed to improve stability and controllability. Suspension apparatus includes; a tire wheel to be equipped with a tire; a wheel hub mechanism to support the tire wheel; a first link member connecting the wheel hub mechanism and a vehicle body on a lower side of an axle in an vehicle up and down direction; a second link member connecting the wheel hub mechanism and the vehicle body on the lower side of the axle in the vehicle up and down direction and intersecting the first link member in a vehicle top view; and a steering rack moving in a vehicle widthwise direction and steering the wheel hub mechanism.

Abstract: A hydraulic steering device is provided comprising a supply port arrangement having a pressure port (P) and a tank port (5), a working port arrangement having two working ports (L, R), a main flow path (14) between the pressure port (P) and the working port arrangement, a return flow path (16) between the working port arrangement and the tank port (5), flow meter means (15) being arranged in said main flow path (14), an amplification flow path (17) being arranged in parallel to said main flow path (14), said amplification flow path (17) being connected to said main flow path (14) downstream said flow meter means (15) in a direction from said pressure port (P) to said working port arrangement. A risk of dangerous situations in case of jamming of the flow meter should be reduced. To this end pressure increasing means are provided increasing a pressure over said flow meter means (15) in case a flow through said main flow path (14) is blocked by said flow meter (15).

Abstract: In a method for setting a limiting value of a vehicle state variable in a driver assistance system, in particular in an electronic stability program ESP, accelerations are measured by the airbag sensor system, and are used in the event of an accident of low to medium severity to determine limiting values of the yaw acceleration and the yaw rate. These limiting values are used for monitoring the functionality of the yaw rate sensor.

Abstract: Provided is a travel trajectory control device for a vehicle which executes a vehicle travel trajectory control by calculating a target steering angle corresponding to a target steered angle of the front wheels for making a vehicle travel to track a target trajectory, and controlling the steered angle of the front wheels on the basis of the target steered angle with a steered angle varying device and a power steering device. The driving ability of a driver and/or a trajectory change intent thereof are determined. On the basis of a driving ability index value and/or an index value which denotes the intensity of the trajectory change intent of the driver, the tracking of the vehicle to the target trajectory is variably set by variably setting the gain in the travel trajectory control.

Abstract: A lane keeping assist system, including: a first calculation unit which calculates left and right position errors of a front portion of the vehicle, a curvature of a lane of the front portion, and a head angle formed based on the lane from a front image of the vehicle captured by an image sensor, and calculates a target yaw rate using the left and right position errors, the curvature of the lane, and the head angle formed based on the lane which are calculated; a second calculation unit which calculates a steering torque control value for driving the calculated target yaw rate using vehicle condition information including front and rear yaw rates of the vehicle sensed by a yaw rate sensor, and a steering angle and a speed of the vehicle; and a steering driving unit which controls steering of the vehicle for keeping a lane.

Abstract: An object of the present invention is to provide a vehicle turning control system capable of maintaining stability of a vehicle, even in a case where a mode of output characteristics of a power plant for the vehicle is switched by a driver's operation. In a running mode in which output characteristics of an engine is higher, the vehicle turning control system increases a control gain of a feedforward control unit for performing yaw moment control of the vehicle by feedforward control, and decreases a control gain of a feedback control unit for performing yaw moment control of the vehicle by feedback control. A control gain of vehicle behavior stabilization control performed by the vehicle behavior stabilization control unit is controlled commonly regardless of the running mode.

Abstract: A hydraulic steering system estimates a trim value from at least a backpressure sensed on a valve assembly in a steering gear. The system further applies the trim value to the pressure measurements of the valve assembly in the steering gear.

Abstract: A power steering device is provided with a device body and a hollow motor. The device body has a steering system in which a piston is disposed on an output shaft via a ball screw mechanism so that a steering (rotational) torque is transmitted from an input shaft to the output shaft and converted to rotation of a sector shaft by axial movement of the piston for steering of steerable wheels. The hollow motor is connected to the outer circumference of the input shaft and driven by energization control based on driving support information from a vehicle-mounted camera and the like. A key and a key groove are provided on the outer circumference of the input shaft and the inner circumference of a rotor of the hollow motor, respectively, so as to constitute a key connection between the input shaft and the hollow motor.

Abstract: A drive-by-wire steering system on a vehicle requiring counter-steering includes a driver input mechanism, for example, a steering wheel, joystick, voice command receiver, or keyboard, and a control system. A sensor receives driver input and sends that information to the control system. An engagement mechanism, for example, a clutch, separates the driver input mechanism from controlling the vehicle. The control system further includes at least one actuator, a wheel, and a mechanical linkage controllable via the engagement mechanism in order for the control system to articulate a steering mechanism, for example, the front wheel of the vehicle, as appropriate.

Abstract: In a power steering system, when power is on, a normal mode process is executed and a target rotational speed is set based on a rotational speed map for a normal mode. When the normal mode process is being executed, if a first mode switching condition that a detected vehicle speed is equal to or lower than a prescribed value, the absolute value of a detected steering angle is equal to or greater than a prescribed value, and the absolute value of a detected steering, angular velocity is equal to or less than a prescribed value is satisfied, the target rotational speed is set based on a rotational speed map for a rack end mode.

Abstract: A limiting device for the steering angle input in an electrical steering system includes a gearing that is arranged on a steering shaft to enable for a threaded piece an adjustment path corresponding to the maximum permissible number of revolutions of the steering wheel, and steering stops for limiting the adjustment path of the threaded piece. A motor-driven drive mechanism is provided for the steering stops, by which the steering stops can be moved uniformly towards or away from one another.

Abstract: There is provided an electric power steering system that makes it possible to reduce an uncomfortable feeling given to a driver even when current feedback control is executed in a state where a detected steering torque value is held. The electric power steering system includes a torque sensor that outputs a detection signal corresponding to a steering torque; and a controller that controls driving of a motor. The controller computes a detected steering torque value based on the detection signal from the torque sensor, and executes current feedback control for causing an actual current value of the motor to follow a current command value based on the detected steering torque value. When the detected steering torque value is held, the controller makes a feedback gain of the current feedback control smaller than a feedback gain that is used when the detected steering torque value is not held.

Abstract: The invention relates to a pump system comprising at least one pump unit, a control unit for controlling the pump unit and at least one sensor, wherein the sensor is connected to a data detection module which is spatially separate from the control unit and detects the output signals of the sensor, the data detection module comprises an output interface, at which it provides the detected sensor signals and/or data derived therefrom, and the control unit is provided with an input interface for the acquisition of signals or data from the output interface.

Abstract: The present invention provides a power-supply device, which can continuously supply a voltage from a power supply to a load even if a breakdown of a circuit is generated. The power-supply device includes a booster circuit, a normally-closed bypass relay, a CPU, and a switching circuit. A first switch of the switching circuit is turned on by a switching signal from the CPU, and a second switch is turned on by a boosting request signal from a boosting request signal generator. In the case that one of or both the switching signal and the boosting request signal are not input to the switching circuit 14, because a coil of a bypass relay is not energized, a contact turns on, and a voltage is supplied from a DC power supply to the load through the contact.

Abstract: A method of controlling vehicle stability includes the steps of obtaining a measured yaw rate from the vehicle, generating a predicted yaw rate based on the measured yaw rate, calculating a first error signal based on a difference between the measured yaw rate and a desired yaw rate, calculating a second error signal based on a difference between the predicted yaw rate and the desired yaw rate, and sending a selected one of the first and second error signals to a yaw controller to conduct stability control. The predicted yaw rate can be generated by sending the measured yaw rate through a lead filter.

Abstract: An engine controlling apparatus for executing (i) an engine automatic stop control and/or (ii) an engine automatic restart control, during running of a vehicle. The controlling apparatus includes: an allowing/inhibiting device configured to selectively allow and inhibit execution of (i) the engine automatic stop control and/or (ii) the engine automatic restart control, by comparing each of at least one of (a) a plurality of physical amounts including (a-1) behavior-representing physical amounts and (a-2) turning-behavior-influencing physical amounts, with (b) a threshold value which is determined, depending on a running velocity of the vehicle, for the each of the at least one of the physical amounts. The behavior-representing physical amounts include at least one turning-behavior-representing physical amount.

Abstract: A control method of the toe and camber angles of rear active suspensions of a vehicle; the control method includes the steps of: detecting when the vehicle follows a curved trajectory; conferring negative toe angles combined with zero camber angles to the rear active suspensions, when starting the curved trajectory and when the vehicle enters the curved trajectory; and conferring positive camber angles combined with negative toe angles to the rear active suspensions, while following the curved trajectory and when the vehicle is inscribed in the curved trajectory.

Abstract: An oil-hydraulic system for moving a gate, comprises a double-acting oil-hydraulic cylinder (11), which is intended to be kinematically connected to the gate to move it, and an electro-hydraulic pump (12) to feed and actuate the cylinder upon command. A switching valve (13) interconnects the cylinder (11) alternatively with the pump (12) or with a tank (14) of oil-hydraulic fluid. In rest conditions, the valve (13) connects the cylinder (11) to the tank (14), to allow free manual movement of a gate connected to the cylinder, and it is automatically controlled by the pressure variations in the system that are produced by the actuation of the pump (12) to disconnect the cylinder (11) from the tank (14) and connect it to the pump (12).

Abstract: The invention concerns a fluid rotary machine (1) with a housing (2), a shaft (3) projecting from the housing (2), and being rotatable around an axis (4) and forming part of a movement chain, and a sensor arrangement (10) comprising a transmitter (12) and a receiver (15). It is endeavored to find a simple solution for detecting the rotation of the shaft with a relatively high accuracy. For this purpose, a channel (21) is provided in the movement chain, and the transmitter (12) is connected to a transfer element (19) transferring a torque that is led through said channel (21) to a section of the movement chain that is farther away from the transmitter (12) than a transmitter-side end of the movement chain.

Abstract: An electric power assisted steering system comprises a steering mechanism which operatively connects a steering wheel to the road wheels of the vehicle, an electric motor operatively connected to the steering mechanism; a torque signal generator adapted to produce a torque signal indicative of the torque carried by a portion of the steering mechanism, a column velocity signal generator for producing a column velocity signal indicative of the angular velocity of the steering wheel or steering column and a signal processing unit adapted to receive the output signals from the sensing means and to produce therefrom a torque demand signal representative of a torque to be applied to the steering mechanism by the motor.

Abstract: A hydraulic-power steering system is provided. A power-steering valve controls and varies a level of steering assist. A magnetic actuator varies torsional stiffness of the valve to change torque and produce a sufficient amount of the torque to generate full assist. A first valve is operatively connected to a steering pump and allows the full assist at a relatively low steering torque and through which flow from the steering pump is directed. A second valve is operatively connected to the steering pump. Current is applied to a solenoid valve that allows an increasing amount of the flow to be directed through the second valve in response to an input signal of increasing vehicle speed above a threshold value and closes in response to a signal identifying any of a plurality of advanced steering functions.

Abstract: This DC/DC converter includes a first DC/DC converter, and a second DC/DC converter for carrying out a DC/DC conversion of voltage supplied from the first DC/DC converter. One of either the first DC/DC converter or the second DC/DC converter is a fixed-factor DC/DC converter, and the other of either the first DC/DC converter or the second DC/DC converter is a variable-factor DC/DC converter.

Abstract: In a power steering system, when power is on, a normal mode process is executed and a target rotational speed is set based on a rotational speed map for a normal mode. When the normal mode process is being executed, if a first mode switching condition that a detected vehicle speed is equal to or lower than a prescribed value, the absolute value of a detected steering angle is equal to or greater than a prescribed value, and the absolute value of a detected steering, angular velocity is equal to or less than a prescribed value is satisfied, the target rotational speed is set based on a rotational speed map for a rack end mode.

Abstract: A hydraulic power steering system includes: a hydraulic cylinder in which an interior is partitioned into first and second hydraulic chambers by a piston on a steered shaft; a variable displacement electric pump that supplies hydraulic fluid to the hydraulic cylinder; a selector valve selectively set in a mode in which the hydraulic fluid is supplied to the first hydraulic chamber and drained from the second hydraulic chamber or in a mode in which the hydraulic fluid is supplied to the second hydraulic chamber and drained from the first hydraulic chamber; a detector that detects torque, steering angle, and/or vehicle speed; and a controller.

Abstract: A method for an electrical limitation of the travel path of a steering gear in a wheeled vehicle, in particular a passenger car, which exhibits a steering drive, is provided. The method includes adjusting the steering gear in a first direction and acquiring a first maximum travel path in the first direction. The method includes prescribing a first limiting value based upon this acquired first maximum travel path and electrically limiting the travel path of the steering gear in the first direction based upon the first limiting value. The first maximum travel path is acquired by the steering drive.

Abstract: A power-steering device and method for controlling a device for a motor vehicle including a stop and start system, the device including an electric pump unit including at least one electric motor and one processor. The method includes a stage in which the electric pump unit is switched to a standby mode by reducing rotation speed of the electric motor, this stage implemented by the processor following receipt of a control signal sent by the stop and start system to the processor, the signal representing an automatic switching of a heat engine into a stop mode. The method enables the power-steering device to be kept in operation during an automatic stopping phase of the heat engine, without resulting in unwanted noise or excessive electricity draw.

Abstract: A system and method for providing adaptive lane centering in an autonomous or semi-autonomous vehicle driving system includes activating a lane centering control system, detecting a driver steering override of the lane centering control system, monitoring a lane centering offset when a driver override condition is detected, determining if the lane centering offset represents a driver bias and adjusting the lane centering offset in the lane centering control system to compensate for the driver bias.

Abstract: An electro-hydraulic power steering apparatus for an environment-friendly vehicle and a method of controlling the same is provided. In particular, a gear box assists in a steering force of a steering wheel, and a reservoir tank stores hydraulic oil therein. An electro-hydraulic power pump pumps the hydraulic oil via an electric motor to supply the hydraulic oil to the gear box. A first valve is mounted to a hydraulic line through which the hydraulic oil flows from the electro-hydraulic power pump to the gear box, and a second valve is mounted to a hydraulic line through which the hydraulic oil returns from the gear box to the reservoir tank.

Abstract: An integrated steering control system includes a primary, automatic and rear control valves. A steering wheel operates the primary steering control valve and is of a type which includes a leakage characteristic. Steering wheel movement is sensed and a signal is sent which results in the automatic steering control valve being operated for adding fluid that supplied to a steering cylinder by the primary steering control valve in order to compensate for leakage, the amount of added fluid being a function of vehicle ground speed. An electric actuator with position feedback is used for ground speed control. Whenever the actuator position shows that the ground speed is set to zero and a switch in the hydro-handle slot shows that the handle is in the Park position, the automatic steering control valve is activated to move the steering cylinder to a neutral, straight ahead position, as determined by a sensor in a mechanical linkage of the steering control.

Abstract: Front wheels (6L, 6R) a steering operation of which is possible by a steering mechanism (12) are mounted on a vehicle body (2). Steering cylinders (22L, 22R) of the steering mechanism (12) extend and contract in response to an operation of a steering handle (27) provided in a cab (5) to perform the steering operation of the front wheels (6L, 6R). The steering mechanism (12) is provided with a rotation angle sensor (28) for detecting a steering angle ? of the left front wheel (6L) and a proximity switch (29) for detecting whether or not the front wheel (6L) is in a straight-ahead state. A controller (30) determines that the rotation angle sensor (28) or the proximity switch (29) is abnormal when the steering angle (?) detected by the rotation angle sensor (28) is different from the detection result by the proximity switch (29).

Abstract: A hybrid motor driven power steering system for a commercial vehicle may include a MDPS unit to generate motor output torque depending on driver steering torque, an EHPS unit to generate hydraulic output torque considering the motor output torque of the MDPS unit, a ball nut type gear box to generate output torque which operates a tie rod leading to left and right wheels after being input with the driver steering torque, the motor output torque, and the hydraulic output torque, and two torsion bars to block torque fluctuation rates at respective regions of a joint by detecting a road surface reaction force transferred to a steering column through the ball nut type gear box in at least two different positions. Accordingly, it may be possible to provide a steering capacity required in small-sized, medium-sized and full-sized commercial vehicles.

Abstract: A power steering system includes an EPS and a HPS. At normal times, an assist force required by a steering system is computed based on a steering torque and a vehicle speed, and the required assist force is generated by the EPS and the HPS. The torsional stiffness of a torsion bar of the HPS is equal to or substantially equal to the torsional stiffness of a torsion bar of the EPS. Therefore, even if the EPS malfunctions, it is possible to gain the steering feel similar to that when the EPS is operating properly.

Abstract: This device is an ultra-thin vehicle where no more than twenty five percent of its solar array extends beyond the vehicle when it is being driven and the solar array is undeployed. However, this same solar array will cover an area at least twice as large as the vehicle and approximately the same size as a parking space when the array is fully deployed. This solar array is also designed to make it possible to easily orient it towards the sun during the majority of time when it is parked. Hence, solar power can be the primary source of power for a typical driver due to the lowered power needs of this tapered ultra thin vehicle.

Abstract: A steerable, self-propelled vehicle (20) includes a rotatable steering column that is connected to control the steering angle of one or more ground-engaging members of the vehicle. The vehicle includes between the steering column and the ground-engaging member a first steering servomechanism having at least a first steering assistance characteristic; a second steering servomechanism having a second steering assistance characteristic also being connected to act on the steering column. A controller is provided for causing the first and second steering assistance characteristics to influence the steering of the vehicle in dependence on one or more one or more control commands generated in the controller.

Abstract: The present disclosure relates to a steering angle sensor failure detection system. More particularly, the present disclosure relates to a steering angle sensor failure detection system that can correctly detect a failure of a steering angle sensor which may be caused due to the slipping of a speed reducer.

Abstract: A force feedback system including a first hydraulic cylinder operably coupled to one or more tires of a vehicle, a power assist steering unit operably coupled to the one or more tires of the vehicle, and a second hydraulic cylinder operably coupled to the power assist steering unit, wherein the first and second hydraulic cylinders are hydraulically coupled to transmit force between the first and second hydraulic cylinders.

Abstract: A lane departure control system is provided which works to control a lane departure of a vehicle. When the vehicle is expected to unintentionally leave a lane of a road, the system steers the vehicle toward the center of the lane at a first yaw rate. Afterwards, when the vehicle is determined to be traveling toward a virtual line extending parallel to the boundary line, the system directs the vehicle parallel to the virtual line at a second yaw rate. The system keeps an absolute value of the first yaw rate below a first upper limit and also keeps an absolute value of the second yaw rate below a second upper limit that is less than the first upper limit. This provides an improved comfortable ride to a driver of the vehicle when the vehicle is directed parallel to the virtual line.

Abstract: A lane departure control system is provided which works to control a lane departure of a vehicle. The lane departure control system determines a controlled angle between a heading direction and a target direction of the vehicle running in a lane. When the vehicle is expected to unintentionally leave the lane, the system steers the vehicle toward the center of the lane by the controlled angle at at least a first yaw rate in a first angular range and a second yaw rate in a second angular range following the first angular range. Each of the first and second yaw rates is changed at a constant rate. This results in simplified calculation of the schedule of changing the first and second yaw rates.

Abstract: When an ECU is powered on, an overall control unit determines whether a temperature detected by a temperature sensor is lower than or equal to a predetermined temperature. When it is determined that the detected temperature is lower than or equal to the predetermined temperature, the overall control unit provides a second operation start command for operating a valve driving motor control unit in a rotation direction alternately switching mode, to the valve driving motor control unit. When the valve driving motor control unit receives the second operation start command from the overall control unit, the valve driving motor control unit starts operating in the rotation direction alternately switching mode.