Abstract: The various embodiments described herein generally relate to an autonomous material transport vehicle, and systems and methods for operating an autonomous material transport vehicle. The autonomous material transport vehicle comprises: a sensing system operable to monitor an environment of the vehicle; a drive system for operating the vehicle; a processor operable to: receive a location of a load; initiate the drive system to navigate the vehicle to the location; following initiation of the drive system, operate the sensing system to monitor for one or more objects within a detection range; and in response to the sensing system detecting the one or more objects within the detection range, determine whether the load is within the detection range; and when the load is within the detection range, operate the drive system to position the vehicle for transporting the load, otherwise, determine a collision avoidance operation to avoid the one or more objects.

Abstract: The invention relates to an adjusting system (1) for pivoting at least one optically relevant component (2) of a vehicle headlight about a first and a second axis (y, z), the system comprising a first retaining element (3) for holding the optically relevant component (2), a second retaining element (4) for displaceably holding the first retaining element (3) on the second retaining element (4), a carrying frame (5) for displaceably holding the second retaining element (4) on the carrying frame (5), and a first adjusting device (6) acting on the first retaining element (3) for displacing the first retaining element (3) relative to the second retaining element (4), and a second adjusting device (7) acting on the second retaining element (4) for displacing the second retaining element (4) relative to the carrying frame (5).

Abstract: A communication system for a vehicle comprises a mechanism for sensing a braking of the vehicle and a control device for sending a signal to a headlight activation circuit to modulate the vehicle's headlights based upon the braking of the vehicle. In particular, a headlight of the vehicle is able to be modulated based upon an application of one or both of a front brake and a rear brake. The headlight activation circuit is able to modulate the headlight between an on position and an off position or modulate the headlight between a high beam position and a low beam position. Consequently, the vehicle is better seen as it approaches likely congestion areas such as intersections and slowing or stopped traffic and attempts to enter traffic.

Abstract: A light distribution control apparatus comprises an irradiating apparatus and an irradiation control apparatus. When a vehicle is travelling on an own lane, the irradiation control apparatus lightens a first region including a region right in front of the vehicle using the irradiating apparatus. When a request for lane change to a target lane occurs under a situation where the vehicle is travelling on the own lane, the irradiation control apparatus lightens a second region using the irradiating apparatus, the second region including a region-at-a-lane-change-side positioned at a target lane side with respect to the first region and a reduced region which is a region where the first region is reduced to a region near the vehicle as well as control the irradiating apparatus so that illuminance in the reduced region becomes less than or equal to illuminance in the reduced region before the request for lane change occurs.

Abstract: A light mount for mounting a light to a steering arm on an axle may include a bracket designed to attach to the steering arm; and a bracket orifice extending through a portion of the bracket, the bracket orifice sized to accommodate a light pod fastener extending from a light pod, wherein the bracket and, thus, the light pod rotate with rotation of the steering arm. The bracket may have various forms and may be a Z-shaped bracket, a mounting perch integrated into the structure of a steering arm, or a mounting plate designed to be attached to an existing steering arm.

Abstract: A luminaire includes a housing having an outer wall and a mounting wall configured to be secured to a structure. The housing further includes a compartment defined at least partially between the outer wall and the mounting wall. The compartment is configured to support a plurality of control devices. A support is coupled to the housing and supports a light emitter assembly. The support includes a plurality of fins in thermal communication with the light emitter assembly. A wall is positioned between the compartment and the plurality of fins.

Abstract: A work machine management device includes a manned-vehicle-data acquisition unit configured to acquire position data of a manned vehicle including a first direction indicator and operation data of the first direction indicator, a target-travel-route generation unit configured to generate a target travel route for a work machine, a blinker-data setting unit configured to set blinker data for controlling a second direction indicator of the work machine on the basis of link data obtained by associating the position data of the manned vehicle and the operation data of the first direction indicator, and an output unit configured to output the blinker data to the work machine traveling along the target travel route.

Abstract: A light assembly for attachment to a surface of a vehicle includes a light head having a light including a flood light mode and a spot light mode, a light head terminal in electrical communication with the light, and a first mounting structure. A vehicle base is configured to be removably coupled to the surface of the vehicle. The vehicle base includes a second structure configured to mate with the first mounting structure such that the light head can be removably secured on the vehicle base, and a base terminal configured to mate with the terminal of the light head to provide power to the light when the light head is secured on the vehicle base. A remote is configured to control rotation of the light about first and second axes and to control operation of the flood light mode and the spot light mode.

Abstract: An illumination device installed in a vehicle capable of traveling in an automatic driving mode is provided with an illumination unit configured so as to radiate light outward from the vehicle, and an illumination control unit configured so as to control the illumination unit, on the basis of an illumination control signal sent from transportation infrastructure, which is provided with a light-emitting body for radiating light outward, in order to make the illumination state of the illumination unit correspond to the illumination state of the light-emitting body.

Abstract: In a headlight optical-axis control device 10, a controller 15 is configured to: calculate vehicle angles indicating tilt angles of a vehicle relative to a road surface, on the basis of ratios, each being a ratio of a difference between a reference acceleration in a longitudinal direction and a signal indicating an acceleration in the longitudinal direction detected during traveling of the vehicle, to a difference between a reference acceleration in a perpendicular direction and a signal indicating an acceleration in the perpendicular direction detected during traveling of the vehicle by an acceleration sensor 2; calculate a plot of the calculated vehicle angles thereby to derive a vehicle angle corresponding to a case where a change of the acceleration in the longitudinal direction is zero; and generate a signal for controlling the optical axes of headlights 5L and 5R on the basis of the derived vehicle angle.

Abstract: An illumination device for a vehicle, includes: a detection unit that detects a person; an illumination unit that illuminates light in a direction toward a road surface, an illumination region of the light being alterable; and a control unit that, in a case in which a person is detected by the detection unit and there is a possibility of collision between the detected person and the vehicle, controls the illumination unit so as to illuminate light at a region in a range of view of the detected person that is separated from the person by a pre-specified distance, and so as to move the light in a direction of movement of the detected person while maintaining the separation at the pre-specified distance.

Abstract: A communication system for a vehicle comprises a mechanism for sensing a change in speed of the vehicle and a control device for sending a signal to a headlight activation circuit to modulate the vehicle's headlights based upon the change in speed. In particular, a headlight of the vehicle is able to be modulated as the vehicle reduces speed and/or is decelerating as it approaches an intersection. Additionally, the headlight of the vehicle is able to be modulated as the vehicle accelerates from a stopped position or reaches a certain traveling speed. The headlight activation circuit is able to modulate the headlight between an on position and an off position or modulate the headlight between a high beam position and a low beam position. Consequently, the vehicle is better seen as it approaches likely congestion areas such as intersections and slowing or stopped traffic and attempts to enter traffic.

Abstract: A headlamp, for a vehicle, that includes an interface unit configured to receive information about an object external to the vehicle, at least one light source configured to generate light, and a transparent display configured to allow at least a portion of the light to pass through the transparent display. The headlamp also includes a processor configured to control the transparent display to darken one area of the transparent display to block transmission of the light through the area of the transparent display, the area of the transparent display being less than an entirety of the transparent display is disclosed.

Abstract: A vehicle headlight device includes a variable light distribution mechanism that is able to change an illuminating area of light emitted ahead of a vehicle equipped with the vehicle headlight device from at least one light source, and is able to illuminate part of the illuminating area at a higher intensity than other parts, a direct field of vision estimator that estimates a direct field of vision on which a vehicle operator is assumed to keep his/her eyes within an area ahead of the vehicle; and a light distribution controller that sets the illuminating area so as to contain the direct field of vision estimated by the direct field of vision estimator, and controls the variable light distribution mechanism to illuminate an area corresponding to the direct field of vision at a higher intensity than a periphery of the area.

Abstract: A method is provided for operating a headlight having a laser light source in a motor vehicle. The headlight generates a light distribution from the light of the laser light source. The laser light source is activated such that the operating power of the laser light source is switched from a first power value to a deactivated operating state or is lowered to a second power value when the speed of the motor vehicle falls below a first speed threshold. The operating power of the laser light source is increased from the deactivated operating state or from the second power value to the first power value, when the speed of the motor vehicle exceeds a second speed threshold, which is greater than or equal to the first speed threshold.

Abstract: An autonomous driving control apparatus and method are provided to automatically determine whether a lane change is required by considering shapes of forward roads, a link relationship between the roads, a speed limit, the number of lanes, road characteristics (e.g., a crossroad, a crosswalk, an interchange, a junction, a speed bump, a dead-end, etc.), and the like which are recognized from a detailed map. The method also effectively determines a timing of the lane change when the lane change is required for a driver to more conveniently, stably, and efficiently arrive at a destination using an autonomous driving.

Abstract: A maneuvering aid for a vehicle has a lighting device configured to at least partially illuminate at least an underlying surface under the vehicle and/or a vehicle bodywork. A control device configured to control the lighting device in order to activate and/or deactivate same. The control device is configured to control the lighting device at least as a function of a vehicle speed and/or of a vehicle acceleration and/or of a distance of the vehicle from a roadway boundary or an obstacle in the roadway. A corresponding method, a corresponding vehicle, and a headlight assembly are described as well.

Abstract: A control unit 20 controls a lighting state of each of radiating portions 11 to 13 in accordance with the determined light distribution pattern, based on data indicative of a state forward of a vehicle. When a light distribution pattern for ADB being selected, the control unit 20 controls a driving portion 15 based on data indicative of a state forward of the vehicle to adjust a rotation angle of the radiating portion 12 for a beam for ADB. In a case of determining to switch a light distribution pattern for ADB to a light distribution pattern for driving, the control unit 20 enables lighting of the radiating portion 13 for a beam for driving on the condition that a rotation angle of the radiating portion 12 for a beam for ADB is confined to an angle in a predetermined range from the front side of the vehicle.

Abstract: An external environment recognizing device for vehicle includes an image acquiring unit configured to acquire image obtained by picking up image of an area ahead of an own vehicle, a light-source extracting unit configured to extract light source from the acquired image, an own-vehicle-speed acquiring unit configured to acquire own vehicle speed, an oncoming-vehicle-presence-possible-region estimating unit configured to estimate oncoming vehicle presence possible region on the basis of own vehicle speed, and an oncoming-vehicle detecting unit configured to detect an oncoming vehicle on the basis of the oncoming vehicle presence possible region and the light source.

Abstract: A method and a system for controlling lighting beams for vehicles. It proposes controlling the road lighting beam by combining data obtained from a navigation device and detection means suitable for supplying distance and nature information concerning target objects situated in front of the vehicle equipped according to the invention.

Abstract: A vehicle headlamp system having a headlamp module and a processor. The headlamp module may include a light source and a reflector. The light source may include a plurality of light emitters which are individually controllable by the processor. The reflector may include a plurality of facets for reflecting the light received from the light source. The headlamp module is capable of switching between high and low beam light without mechanically movable components.

Abstract: A sub headlight unit for use in a vehicle that leans into turns includes a plurality of sub headlight light sources that illuminate, at one side with respect to a width direction of the vehicle, an area ahead and outward of the vehicle with respect to the width direction of the vehicle. The brightness of the sub headlight light source changes in accordance with a lean angle of the vehicle. When the lean angle of the vehicle reaches a reference value that is individually set for each of the sub headlight light sources, the sub headlight light source exhibits a predetermined brightness. As the reference value set for the sub headlight light source is greater, an outer edge of an illumination range of the sub headlight light source having a predetermined illuminance is located increasingly farther outward with respect to the width direction of the vehicle in a plan view.

Abstract: Device for the control of vertical cut-off lines for headlamps of a motor vehicle within a swivel range, wherein the control device (10) has a first input (12) for a first signal, which indicates the direction referring to a longitudinal axis (1) of the motor vehicle, in which the motor vehicle (F1) meets the oncoming light source of a motor vehicle (F2) or in which it moves in front of the motor vehicle (F1) in the same direction of travel, wherein the control device is suitable and equipped for the generation of a control signal for the right-hand headlamp (50) and a control signal for the left-hand headlamp (40) of the motor vehicle (F1) for the adjustment of a vertical cut-off line depending on the first signal, with which a right-hand vertical cut-off line and a left-hand vertical cut-off line can be adjusted to eliminate the dazzling effect on an oncoming motor vehicle (F2) or a motor vehicle (F2) driving ahead, wherein the control device (10) is suitable and equipped for the adjustment of the right

Abstract: A structure for a headlight cowl for reducing the difference in steering feeling between the starting of a pivotal motion and a succeeding pivotal motion when the handlebar is pivoted so that the driver is less likely to have an uncomfortable feeling. The structure of a headlight cowl includes a steering apparatus supported for pivotal motion on a head pipe at a front end of a vehicle body frame and operable to turn a front wheel in accordance with a steering operation by a driver. A headlight cowl includes left and right side faces for covering the left side and the right side of a headlight provided on a front face of an upper portion of the steering apparatus and for guiding a flow of air to flow rearwardly. The headlight cowl includes projections that individually project outwardly in a vehicle widthwise direction from the left and right side faces.

Abstract: A detection method, system and device for a motor vehicle (V1). The method, system and device uses at least one camera which has a predetermined field of vision. The method includes the following steps: receiving information which is representative of a driving state associated with the vehicle; and modifying the field of vision of the camera, and in particular its orientation, according to the information.

Abstract: A method of operation of a navigation system includes: obtaining a device state having a current location, a current speed, and a current heading for locating a device; identifying an anticipated maneuver point for estimating a future location of the device on a thoroughfare with the anticipated maneuver point calculated from the current location and the current heading; determining an expected maneuver at the anticipated maneuver point; and generating an accessory control for manipulating an accessory on the device for the expected maneuver at the anticipated maneuver point.

Abstract: The present invention relates to a method for operating a predictive adaptive front lighting for a vehicle with headlamps and a controller. The method includes the steps of receiving a vehicle position; identifying a map location of the vehicle; determining a most likely path of the vehicle based on the map location; locating a target point on the most likely path of the vehicle; adaptively changing a distance between the vehicle and the target point; calculating a desired swivel angle for the vehicle headlamps based on the most likely path of the vehicle; and swiveling the headlamps according to the desired swivel angle.

Abstract: A bank angle detecting device includes a roll rate sensor for detecting a angular velocity ?r about a longitudinal axis of the motorcycle; a yaw rate sensor for detecting a angular velocity ?y about an vertical axis of the motorcycle; a bank angle detecting unit for detecting the motorcycle bank angle ? for calibration use based on the yaw rate ?y and a traveling velocity v; and a bank angle correcting unit for correcting the basic motorcycle bank angle ?r, determined from an output ?r of the yaw rate sensor, so as to approach the motorcycle bank angle ? that is detected by the bank angle detecting unit, to thereby determine the estimated bank angle ?0.

Abstract: An illuminating device for vehicles, in particular a tail light, with a housing containing at least one light source, a support accommodating the light source, and a reflector, and with a diffusion lens for covering an opening of the housing. The reflector, which is provided with an electrically conductive coating, is assigned charge dissipation path in such a manner that, when electrostatic charging of the reflector occurs, a dissipation current flows along the dissipation path to a connection to earth of the illuminating device.

Abstract: Automotive systems and methods for operating vehicles are provided. In an embodiment, when a speed sensor senses that the vehicle speed is above a first speed threshold and an ambient light sensor senses that an ambient light intensity is below a first intensity threshold, a controller provides a first command to a suspension system to lower a first end of a vehicle body to a second front trim height position relative to a horizontal plane, where the second front trim height position is below a first front trim height position, and to lower the second end of the body to a second rear trim height position relative to the horizontal plane, where the second rear trim height position is below a first rear trim height position.

Abstract: A lamp system and method are provided. The system includes a swivel control section which is configured to control an irradiating direction of a lamp so as to follow a steering angle of a steering wheel of a vehicle, a filter section which is configured to change a following response of a change of the irradiating direction with respect to a change of the steering angle, and a filter control section which is configured to control the filter section to decrease the following response when an angular acceleration of the steering angle is greater than or equal to a reference value.

Abstract: A vehicle headlight apparatus receives road data from a navigation system. The apparatus has a first and a second swivel devices for adjusting an optical axis directions of a main light and a sub-light corresponding to one and the other headlights of a right and a left headlights, respectively. The apparatus also has a control unit, which separately controls the first and the second swivel devices, so that a one-eye navigation-cooperated control operation can be carried out which adjusts only the optical axis direction of the main light to be coincident with a road direction calculated based upon the road data.

Abstract: The vehicle light control system includes a light device emitting an illumination light around an object vehicle on which the vehicle light control system is mounted, an information obtaining device obtaining integrated information including at least vehicle information indicating a behavior of the object vehicle, a control unit including an illumination target candidate setting function of setting a plurality of illumination target candidates which a driver of the object vehicle should pay attention on the basis of the integrated information, the plurality of the illumination target candidates being given a risk degree respectively, and a determination function of selecting an illumination target from among the plurality of the illumination target candidates on the basis of the risk degree, and an actuator device controlling the light device such that the illumination light is emitted in a direction of the illumination target.

Abstract: Disclosed herein is an LED (light emitting diode) headlamp aiming apparatus, which aims a mounting module that is provided with LEDs and is installed in a headlamp housing. The LED headlamp aiming apparatus includes a vertical aiming unit, which is provided on the rear side of the mounting module and is coupled to the headlamp housing, a horizontal aiming unit, which is provided on the rear side of the mounting module and is coupled to the headlamp housing, and a pivot unit which is coupled to the headlamp housing and is provided under the lower portion of the mounting module to support the mounting module and provide the center of the aiming operation.

Abstract: A steering wheel arrangement includes a steering wheel frame and an airbag unit positioned at the hub region of the steering wheel frame. The airbag unit includes an airbag housing and an airbag cover. The airbag cover covers the airbag housing and incorporating opaque cover portion projecting outwardly beyond a side of the airbag housing. The arrangement further includes a light source shielded behind the cover portion and positioned outside the airbag housing such that light emitted from the light source passes outwardly from beneath the opaque cover portion and is incident on, and illuminates, part of the steering wheel frame.

Abstract: A system for predictive front lighting of a vehicle. The system includes a first and second headlamps, a first and second swivel mechanisms and a controller. The first and second headlamps project a beam pattern for illumination of the vehicle path. The controller receives vehicle position data, for example from a GPS system, and accesses a map database to identify a map location of the vehicle. The controller further analyzes the map to determine a most likely path of the vehicle based on the map location and other vehicle heading parameters. The controller then calculates the desired swivel angle of the first and second headlamps based on the most likely path of the vehicle, and the first and second swivel mechanisms manipulate the first and second headlamps to accordingly change the swivel angle of the headlamps.

Abstract: A system for predictive front lighting of a vehicle. The system includes at least two headlamps, at least two swivel mechanisms and a controller. The first and second headlamps project a beam pattern for illumination of the vehicle path. The controller receives vehicle position data, as well as, data regarding a most likely path and a secondary path of the vehicle. The controller then calculates the desired swivel angle of the headlamps based on the most likely path of the vehicle and the secondary path of the vehicle, and the swivel mechanisms respectively manipulate each of the headlamps to accordingly change alignment of the headlamps based on the swivel angle for each of the of the headlamps.

Abstract: An automotive headlamp apparatus is provided with a light source for producing a high beam and a controller for controlling illumination from the light source. Given that at least a portion of a high beam illumination area illuminated by the light source is vertically divided into a plurality of blocks, the controller controls illumination from the light source such that a plurality of first regions having a predetermined horizontal width are formed at least in some of the blocks toward the bottom, and that a second region having a greater horizontal width than the first regions is formed in the block toward the top.

Abstract: A headlight control apparatus and method controls an irradiation direction of a headlight. This apparatus uses a navigation-based swivel angle calculated based upon the shape of a road in a navigation-based control period, and a steering-based swivel angle calculated based upon a steering angle in a steering-based control period. When the control period changes from the navigation-based control period to the steering-based control period, this apparatus uses a value between the navigation-based swivel angle and the steering-based swivel angle as a present control swivel angle for controlling the irradiation direction of the headlight.

Abstract: A front lighting device for a vehicle includes a speed detection unit for detecting a vehicle speed, a steering angle detection unit for detecting a steering angle, and a swivel angle determination unit. The swivel angle determination unit determines a swivel angle based only on the detected steering angle when the detected speed is within a first speed range, and based on both the detected steering angle and the detected speed when the detected speed is within a second speed range which is higher than the first speed range. An actuator controls a direction of light from a head light of the vehicle, so that the direction of the light changes in accordance with the determined swivel angle.

Abstract: A lamp system and method are provided. The system includes a swivel control section which is configured to control an irradiating direction of a lamp so as to follow a steering angle of a steering wheel of a vehicle, a filter section which is configured to change a following response of a change of the irradiating direction with respect to a change of the steering angle, and a filter control section which is configured to control the filter section to decrease the following response when an angular acceleration of the steering angle is greater than or equal to a reference value.

Abstract: A system for predictive front lighting of a vehicle. The system includes at least two headlamps, at least two swivel mechanisms and a controller. The first and second headlamps project a beam pattern for illumination of the vehicle path. The controller receives vehicle position data, as well as, data regarding a most likely path and a secondary path of the vehicle. The controller then calculates the desired swivel angle of the headlamps based on the most likely path of the vehicle and the secondary path of the vehicle, and the swivel mechanisms respectively manipulate each of the headlamps to accordingly change alignment of the headlamps based on the swivel angle for each of the of the headlamps.

Abstract: The headlight swivel control apparatus includes a first function of obtaining road map data, current position information of a vehicle, and width-direction-position information for determining a position of the vehicle on a road on which the vehicle is driving in a width direction of the road, a second function of determining a control start point on the road on the basis of the road map data and the current position information, a third function of determining, on the basis of the road map data and the current position information, a width-direction distance representing a distance between a centerline of the road and the vehicle, a fourth function of calculating a target swivel angle depending on road curvature data included in the road map data, and a fifth function configured to start, when the vehicle reaches the control start point, to perform a swivel control.

Abstract: The present invention relates to a vehicle operation support system and an associated method of improving a driver's visibility. The vehicle may be equipped with at least one UV light which irradiates the ambient environment with UV radiation. In some examples, the direction or the intensity of UV radiation may be changed in response to vehicle and environment variables.

Abstract: A vehicle lamp is provided with a single lamp unit for irradiating light of a light source in a desired direction as irradiating light, and an irradiating light control apparatus constituted by integrally assembling a horizontal driving device for pivoting the lamp unit in a horizontal direction, a vertical driving device for pivoting the lamp unit in a vertical direction, and a switching drive portion of a light amount changing device for changing an irradiating light amount of the irradiating light to a single case. An irradiating direction of the irradiating light in the horizontal direction, an irradiating direction thereof in the vertical direction and an irradiating light amount thereof can pertinently be controlled by driving the respective devices.

Abstract: The bonding light and dipped beam headlamp for a motor vehicle comprises at least two light sources with at least one first source having a cut-off of the dipped beam type and at least one second source having a cut-off of the flat type, which is placed outside the first source so as to illuminate into a turn to its side; means that are sensitive to the trajectory of the vehicle so as to supply a signal that depends on the nature of the route followed by the vehicle; and means for increasing the brightness of the flat cut-off source in the event of a turn to the side of this source, in response to the supplied signal.

Abstract: In a light (optical) beam steering/sampling system, a matrix inversion control technique is used to decouple the operation of the actuators which drive the steering mirrors. The control technique uses two virtual variables, each having an associated independent feedback loop operating in a non-cross-coupled manner, each variable being associated with one of the two steering mirrors.

Abstract: An apparatus for automatically adjusting a direction of a headlight of a vehicle includes a steered angle sensor detecting a steered angle of a steering wheel of a vehicle, a vehicle speed sensor detecting a speed of the vehicle, a control unit performing a swivel control by which the direction of the light axis of the headlight is adjusted to a target direction depending on the steered angle and the vehicle speed, and a variance calculating device calculating a variance of the steered angle detected by the steered angle sensor. The control unit halts the swivel control unit when the variance calculated by the variance calculating device exceeds a predetermined threshold.

Abstract: A vehicle lighting apparatus can help improve irradiation for different speeds of an automobile. The vehicle lighting apparatus includes lamps for installation at front portions of an automobile. An irradiation direction of the lamps can be deflected in left and right directions based on a steering operation of a steering apparatus, and a rate of change of a deflection angle of the lamps with respect to the steering angle is made smaller as the vehicle speed increases to a high speed.

Abstract: A headlamp apparatus for a vehicle accurately detects a straight steering position in a steering device of the vehicle, thereby controlling a light distribution characteristic of a headlamp of the vehicle. In a headlamp apparatus for a vehicle including a controller for controlling a light distribution of a headlamp based on a steering angle of a steering device of the vehicle, the controller detects a straight steering position based on an origin position signal obtained when each of wheel speeds SPDL and SPDR of left and right wheels (front wheels 3LF and 3RF) of the vehicle is at least a reference value ? and a difference in the speed is equal to or lower than a reference value ? on the basis of an origin position signal PZ to be output from the steering device for each rotation of a steering wheel and the difference in the speed.