Abstract: A steering control device configured to control a steering device includes a control unit. The control unit is configured to calculate a torque command value which is a target value of the motor torque based on execution of angle control for adjusting a convertible angle which is able to be converted to a rotation angle of the motor to a target angle; calculate the motor control signal based on the torque command value; and change a control gain which is used for the angle control based on a change of a factor influencing a behavior of a vehicle in response to steering.

Abstract: A tapered roller bearing includes an inner ring, an outer ring, a plurality of tapered rollers, and an annular cage having a plurality of cage pockets. Each of the cage pockets has a retainer configured to permit displacement of the tapered roller in a direction with a component in a radial direction, and restrict detachment of the tapered roller to an outer side in the radial direction by bringing the retainer into contact with a part of an outer peripheral surface of the tapered roller. The cage pockets include a first cage pocket having a first retainer with which a permissible amount of the displacement is a first displacement amount, and a second cage pocket having a second retainer with which the permissible amount of the displacement is a second displacement amount smaller than the first displacement amount.

Abstract: An upright includes an axle hub, a hub carrier, and a hub tilt detector configured to detect a tilt of the axle hub with respect to the hub carrier. The hub carrier includes a hub support that supports the axle hub, a carrier body which holds the hub support and to which the sensor of the hub tilt detector is fixed, and a deformation member interposed between the hub support and the carrier body and made of a material having a lower Young's modulus than the carrier body.

Abstract: A steering control device includes a control unit, and a drive circuit. The control unit is configured to calculate a torque command value which is a target value of the motor torque based on execution of angle control for adjusting a convertible angle which is able to be converted to a rotation angle of the motor to a target angle, calculate the motor control signal based on the torque command value, and change a control gain which is used for the angle control based on a detection value from an axial force-related sensor configured to detect an axial force-related value related to an axial force applied to a turning shaft connected to turning wheels.

Abstract: A tire state estimating device includes an electronic control unit. The electronic control unit is configured to acquire generated force of a tire. The electronic control unit is configured to acquire a friction coefficient between the tire and a road surface. The electronic control unit is configured to derive a grip margin of the tire. The electronic control unit is configured to estimate a contact length of the tire in an uncontrolled drive state. The electronic control unit is configured to estimate a cornering power of the tire, based on the contact length of the tire that is estimated and the generated force of the tire that is acquired.

Abstract: A convoy travel system includes a plurality of vehicles and is configured such that the plurality of vehicles form a convoy and travel. The plurality of vehicles include a preceding vehicle and following vehicles configured so as to follow the preceding vehicle by means of automatic driving. The preceding vehicle is equipped with a steering information acquisition unit configured so as to acquire steering information pertaining to steering of the preceding vehicle, and a transmission unit configured so as to transmit the steering information to the following vehicles. The following vehicles are equipped with a reception unit configured so as to receive the steering information, and an automatic driving control unit configured so as to begin a steering angle control for avoiding a collision with an obstruction when the steering information indicates the execution of emergency steering for avoiding a collision with the obstruction.

Abstract: A steering angle calculation circuit of an ECU includes a neutral point calculation circuit, a correction amount calculation circuit, an adder, and an absolute angle calculation circuit. When started, the neutral point calculation circuit calculates a motor neutral point from a steering angle detected through a steering sensor and a motor rotation angle detected through a relative angle sensor. The correction amount calculation circuit calculates a correction angle that is a difference between a conversion value and an actual value of the motor rotation angle with respect to the steering angle. The conversion value is obtained by converting the steering angle in terms of the motor rotation angle by taking into account a theoretical specific stroke. The adder calculates a final motor neutral point by adding the correction angle calculated by the correction amount calculation circuit to the motor neutral point calculated by the neutral point calculation circuit.

Abstract: A sensor device that can suppress positional fluctuations of a sensor element with first and second magnetism collection portions due to injection molding of a housing is provided. A housing of a torque sensor has a ring portion cover portion that surrounds and holds a first ring portion of a first magnetism collection ring and a second ring portion of a second magnetism collection ring, and a sensor cover portion that houses a first magnetism collection portion, a second magnetism collection portion, and a sensor unit. The sensor cover portion extends toward the radially outer side from the ring portion cover portion. The sensor cover portion has a sensor housing portion that houses the sensor unit as interposed between the first magnetism collection portion and the second magnetism collection portion, an opening portion that opens in the axial direction, and a lid portion that closes the opening portion.

Abstract: In a constant velocity joint, each of outer ball grooves includes a finished portion, and a finishing relief portion adjoining the finished portion in a direction of a central axis of an outer joint member. An inner ball groove and the finishing relief portion have a relationship in which an action direction of an inner ball groove-side pressing force with which a ball is pressed by the inner ball groove at an inner ball groove-side contact point where the inner ball groove contacts the ball along with movement of the inner joint member is offset toward the finished portion from an action direction of an outer ball groove-side pressing force with which the ball is pressed by the finishing relief portion at an outer ball groove-side contact point where the finishing relief portion contacts the ball along with the movement of the inner joint member.

Abstract: A method for assembling a constant velocity joint includes a first step of inserting a unit in which balls are housed in windows of a cage from one side in a direction of a central axis of an outer joint member toward another side in the direction of the central axis of the outer joint member to allow the balls to roll along outer ball grooves; and a second step of mounting an inner joint member while moving the inner joint member in the outer joint member along the direction of the central axis of the outer joint member.

Abstract: An assist device includes: a first brace configured to be worn on at least a waist of a user; an arm configured to extend along a thigh of the user and to rotate with respect to the first brace; an actuator configured to generate torque that rotates the arm; and a second brace provided on the arm and configured to be worn on the thigh. The arm includes an arm body and a holding portion. The holding portion is provided on the arm body such that the holding portion is movable in a longitudinal direction of the arm body. The holding portion holds the second brace such that the second brace is rotatable.

Abstract: A plug including a hub which extends along a central axis and is defined radially by a side wall wherein an annular groove is formed, which receives a sealing member, the groove provided between a bottom wall and first annular edge wall, and a second annular edge wall, which axially define the groove, the hub being formed by the combination of a first hub section on which the first edge wall is formed, and a second hub section on which the second edge wall is formed, the first hub section and the second hub section being assembled so that they meet at a gasket face which is secant to the central axis and the bottom wall of the groove, so the line of the intersection of the gasket face with the bottom wall is contained axially between the first and second edge wall over the entire perimeter of the groove.

Abstract: In a ball screw apparatus, a ball train including a plurality of main balls is housed in a raceway between a ball track of a ball nut and a ball track of a ball screw shaft. A coil spring housed in the raceway includes a first end that engages with an end of the ball train and a second end supported by a stopper (a first recessed portion, a protruding portion, or the like) of the ball nut. A stopper ball having a diameter larger than the diameter of the main ball is interposed between the stopper and the second end of the coil spring.

Abstract: A monitoring apparatus includes a sound collecting device and an information processing device. The sound collecting device has a plurality of microphones arranged. The microphones convert sound waves emitted from the target regions into sound pressure signals respectively. The information processing device stores map information on positions of the target regions with respect to the sound collecting device, and extracts a specific sound pressure signal from the sound pressure signals for each of the target regions by subjecting the sound pressure signals to beam forming processing based on the map information.

Abstract: A steering controller includes a torque command value calculator configured to calculate a torque command value used as a target value of the motor torque. The torque command value calculator has a hysteresis component calculator configured to calculate a hysteresis component added such that the command value component has hysteresis characteristics and changes accordingly with respect to change of a state quantity that changes in accordance with operation of the steering device. The hysteresis component calculator is configured to calculate the hysteresis component by adding the hysteresis differential component to the hysteresis basic component.

Abstract: A resin molding mold, by which a resin worm wheel for a worm speed reducer is molded, includes a plurality of tooth forming portions provided such that the tooth forming portions are disposed at predetermined intervals on a circumference of the resin molding mold. The tooth forming portions each include a projection portion provided in a part of a tooth-flank forming surface by which a tooth flank is formed.

Abstract: A steering system includes a rod member, a housing, and a clamping member. The housing has a clamping slit and includes a first clamp-receiving portion and a second clamp-receiving portion that project so as to sandwich the clamping slit therebetween. The clamping member includes a fixed cam, a clamping shaft, a rotary cam, and a clamping lever. The fixed cam is fitted in the first clamp-receiving portion from an outer side of the first clamp-receiving portion. The fixed cam has a third through hole extending through the fixed cam coaxially with a first axis. The third through hole has a small diameter portion at a first portion close to the rotary cam and a large diameter portion having a diameter larger than a diameter of the small diameter portion at a second portion away from the rotary cam.

Abstract: A grinding apparatus grinds a workpiece by rotating the workpiece held by main spindles and a grinding wheel held by a wheel spindle, and by relatively moving the grinding wheel toward and away from the workpiece. The grinding apparatus includes a first detection unit that detects a rotational phase of the workpiece; a second detection unit that detects a grinding resistance moment at a grinding point between the grinding wheel and the workpiece, or detects a drive current of a rotary drive unit of the workpiece or a rotary drive unit of the grinding wheel; a storage unit that stores the grinding resistance moment or the drive current in a manner associated with the rotational phase; and a determination unit that determines a slip between the workpiece and the main spindles based on the grinding resistance moment or the drive current at a current rotational phase, and on the grinding resistance moment or the drive current at the same phase as the current rotational phase of a previous time.

Abstract: A rolling bearing device includes a rolling bearing that includes an outer ring having an inner peripheral surface on which a first raceway surface is provided, an inner ring having an outer peripheral surface on which a second raceway surface is provided, and rolling elements interposed between the first and the second raceway surfaces; a strain sensor configured to detect a strain of the rolling bearing; and a fixation portion configured to fix the strain sensor to a peripheral surface that includes at least one of an outer peripheral surface of the outer ring and an inner peripheral surface of the inner ring. The fixation portion fixes at least two locations in the strain sensor to the peripheral surface such that a detection region of the strain sensor and the peripheral surface are not fixed to each other, the at least two locations facing each other across the detection region.

Abstract: A control apparatus for a motor includes an electronic control unit. The electronic control unit includes a first controller, a second controller, a third controller, and a fourth controller. The first controller is configured to, through execution of feedback control, compute a feedback control torque to be generated by the motor. The second controller is configured to compute a disturbance torque based on the feedback control torque and a predetermined angle. The third controller is configured to correct the feedback control torque by using the disturbance torque. The fourth controller is configured to compensate a transfer lag to the second controller between the feedback control torque and the predetermined angle.