Abstract: In a steering control device configured to control a steering system where a steering torque required for steering a steering wheel is changed using a motor torque, a processing circuit includes a first calculation situation where a calculational hysteresis component for adding a first hysteresis characteristic to a torque component is calculated and a second calculation situation where the calculational hysteresis component for adding a second hysteresis characteristic to the torque component is calculated. In the second calculation situation after change from the first calculation situation, the processing circuit calculates a value corresponding to an origin in the second hysteresis characteristic at a time when the calculational hysteresis component enabling a value of the calculational hysteresis component at a timing of the change from the first calculation situation to be maintained is calculated, and calculates the calculational hysteresis component using the calculated value as the origin.

Abstract: A control device includes an electronic control unit. The electronic control unit determines a right steering command value and a left steering command value. The electronic control unit acquires path information indicating a target path for the vehicle. The electronic control unit corrects a steering command value such that the vehicle travels along the target path. The electronic control unit corrects the right steering command value and the left steering command value so as to bring the distribution ratio between a skid angle of a right steered wheel and a skid angle of a left steered wheel to a target distribution ratio.

Abstract: A vehicle control apparatus capable of protecting a pre-charge circuit is provided. When a voltage has entered an operating voltage range, a microcomputer determines whether a preset period has elapsed from then. Upon determining that the preset period has elapsed, the microcomputer starts initial check. To carry out the initial check, the microcomputer starts charging a capacitor for power supply stabilization of a drive circuit by turning on the pre-charge circuit and, when the charging of the capacitor is completed, turns on a power supply relay provided on a power supply line that connects between a battery and the drive circuit.

Abstract: A walking assist device has a frame, a plurality of wheels, drive units, a battery, and a drive control unit that controls the drive units. The walking assist device also has: a pair of right and left movable handles that are grasped by a user and movable back and forth with respect to the frame in accordance with arm swing performed during walk of the user; handle guide units provided on the frame to guide the movable handles in a movable range that matches the arm swing performed during walk of the user; and a grasp portion state detection unit that detects the state of the movable handles. The drive control unit controls the travel speed of the walking assist device by controlling the drive units on the basis of the state of the movable handles which is detected using the grasp portion state detection unit.

Abstract: A turning device includes: a motor configured to generate a drive force for independently steering a steered wheel; a speed reducer connected to a rotary shaft body of the motor; and a brake configured to suppress transfer of torque between the motor and the speed reducer.

Abstract: In a steering control device, a plurality of control systems is configured to switch a drive mode to a cooperative drive mode when command values calculated by control units of the control systems are not different from each other and to switch the drive mode to an independent drive mode when the command values calculated by the control units of the control systems are different from each other. The control systems are configured to gradually limit the command values respectively calculated by the control units of the control systems when a start switch of a vehicle has been turned off. The control systems are configured to switch the drive mode to the independent drive mode regardless of whether the command values calculated by the control units of the control systems are different from each other when the start switch has been turned off while the vehicle is traveling.

Abstract: A valve device includes a body having a gas flow path. When the gas is charged, the first flow path is located upstream of the intersecting portion, and the second flow path is located downstream of the intersecting portion. The gas flow path has a check valve mechanism and a drive mechanism. The check valve mechanism opens a valve when the gas is charged and closes the valve when the gas charge is completed, and the drive mechanism opens the valve of the check valve mechanism and holds the open state of the valve of the check valve mechanism when the gas is discharged from the tank. The check valve mechanism includes a valve seat, and the valve seat is disposed in the first flow path.

Abstract: A walking assist device has a frame, a pair of right and left arm portions, a pair of right and left grasp portions, wheels including a pair of right and left drive wheels, drive units, a battery, a drive control unit, acting force measurement units that measure acting forces on the grasp portions, and holding units that hold the grasp portions at a predetermined position in the front-rear direction of the arm portions set in advance. The walking assist device travels forward together with a user. The holding units generate a restoring force for returning the grasp portions to the predetermined position. The drive control unit controls the drive units on the basis of acting forces calculated on the basis of detection signals from the acting force measurement units.

Abstract: A vehicle speed calculating device includes a vehicle speed calculating unit configured to calculate a control vehicle speed that is acquired by estimating a vehicle body speed that is a speed at which a vehicle is actually traveling, as a state variable used to control an onboard device configured to operate to realize various functions provided in the vehicle. The vehicle speed calculating unit is configured to include an extraction function of extracting at least one wheel speed acquired from at least one wheel that is assumed to be rotating in a state in which an influence causing a difference from the vehicle body speed is likely to be small, out of wheel speeds of a plurality of wheels, and a calculation function of calculating the control vehicle speed based on the at least one wheel speed extracted by the extraction function.

Abstract: A walking assist device has a frame, fixed handles, rails provided with movable handles, front wheels, rear wheels and that serve as drive wheels, drive units, a battery, and a drive control unit, and travels forward or rearward together with a user that walks while grasping the fixed handles or the movable handles. The walking assist device has an operation mode switching unit that switches between a training mode, in which a load is applied to operation of the body of the user performed as the user walks, and an assist mode in which a load on operation of the body of the user performed as the user walks is alleviated.

Abstract: A steering system includes a first operation device including a first displacement mechanism, a first electric drive source, and a first detector, a second operation device including a second displacement mechanism, a second electric drive source, and a second detector, and a determiner configured to determine that the first operation device and the second operation device do not malfunction when the determiner determines that the first operation device has an abnormality based on first operation information related to operation of the first operation device, and that the second operation device has an abnormality based on second operation information related to operation of the second operation device.

Abstract: A worm reducer includes a worm shaft; a worm wheel; a housing that houses the worm shaft and the worm wheel; a bearing that holds the worm shaft inside the housing; a coil spring that contacts an outer peripheral surface of the bearing and applies an urging force toward the worm wheel; and a preload member that is screwed into and fixed to the housing and pressurizes the coil spring. A winding direction of the coil spring is different from a winding direction of a thread of the preload member, and contact resistance between the coil spring and the preload member is greater than contact resistance between the coil spring and the bearing.

Abstract: A method of manufacturing an outside joint member, the outside joint member including a cup portion in a bottomed tubular shape and a shaft portion that is a shaft-like portion extending from a bottom portion of the cup portion and that has a spline shaft having an outer peripheral surface on which spline teeth are formed, includes forging a forming material to form a shape of the cup portion and a shape of the spline shaft on the shaft portion simultaneously using a forging die.

Abstract: A steering determination device determines a steering state in which a driver of a vehicle is steering a steering wheel of the vehicle. The device includes a torque recognition unit configured to recognize a steering torque based on a measurement result of a torque sensor provided on a steering shaft, an acceleration recognition unit configured to recognize longitudinal acceleration or lateral acceleration, a threshold value setting unit configured to set a threshold value for the determination of the steering state, based on the longitudinal acceleration or the lateral acceleration, and a steering determination unit configured to determine that the driver is in the steering state if the steering torque is equal to or greater than the threshold value. The threshold value setting unit is configured to set the threshold value such that the threshold value decreases as an absolute value of the longitudinal acceleration or the lateral acceleration decreases.

Abstract: A steering system includes a prioritized torque sensor, a redundant torque sensor, a controller, a first signal line, a second signal line, and a common signal line. Each of the first signal line and the second signal line connects the prioritized torque sensor and the controller. The common signal line connects the redundant torque sensor and the controller. The prioritized torque sensor is configured to transmit, via the first signal line, a first prioritized detection signal. The prioritized torque sensor is configured to transmit, via the second signal line, a second prioritized detection signal. The redundant torque sensor is configured to transmit, via the common signal line, a first redundant detection signal and a second redundant detection signal.

Abstract: A magnetic shield includes a divided portion divided into a plurality of parts before attachment to a sensor device. The divided portion is integrated by bringing the plurality of parts close to or in contact with each other during the attachment to the sensor device. The divided portion in an integrated state includes a first shield portion that surrounds a body of a magnetic flux collecting ring from an outer side in a radial direction, and a second shield portion that surrounds a magnetic flux collecting portion of the magnetic flux collecting ring together with a magnetic sensor to extend outward in the radial direction from the first shield portion.

Abstract: A motor control device includes a board that is provided at an end of a motor including winding groups of two systems and controls supply of electric power to the winding group independently for each system. The board includes two areas that are partitioned by a boundary line passing through the center of the motor when viewed in an axial direction of the motor. A power supply terminal connector, an inverter circuit, and a motor terminal connector are sequentially arranged along the boundary line when viewed in the axial direction of the motor. The motor terminal connector is provided such that a straight line perpendicular to a direction in which motor terminals are arranged and the boundary line form an acute angle.

Abstract: A constant-velocity universal joint including a generally cup-shaped outer joint member and an inner joint member that cooperate with each other to define first and second groove portions. A pinch angle by which a ball is pinched in the first groove portion is open toward an opening end of the outer joint member. A pinch angle by which the ball is pinched in the second groove is open toward a bottom wall of the outer joint member. An absolute value of the pinch angle in the first groove portion is larger than an absolute value of the pinch angle in the second groove portion in a reference state in which centerlines of the outer joint member and the inner joint member lie in a straight line.

Abstract: A ball screw nut has a pair of through holes and a first passage that allows the through holes to communicate with each other and that opens radially outward. In each of the through holes, a ball screw mechanism has a circulation member having a second passage in which a ball can move between a ball raceway and the first passage. The ball screw mechanism has a circulation path for communicating the two connection points set on the ball raceway by the first passage and each of the second passages. A driven pulley has a thin portion that defines a radial clearance between an inner periphery of the driven pulley and an outer periphery of the ball screw nut. The ball screw mechanism has a pressing lid that presses down each of the circulation members from the outer periphery of the ball screw nut and that covers the first passage.

Abstract: A grease composition includes a base oil, a thickener, and an additive. The base oil contains a synthetic oil. The thickener contains a compound having a urea group. The additive contains a phosphoric compound, a calcium-based compound, and a hydrocarbon-based wax. A hub unit includes the grease composition enclosed therein.