Abstract: A steering control device which applies an assist torque or a reaction torque to a steering member operated by a driver, includes: a torque loss estimation unit which estimates torque loss; and a correction amount calculation unit which calculates a correction amount according to a rack axial force estimation value calculated based on a roll rate when the torque loss estimation unit estimates the torque loss.

Abstract: Assist torque or reaction force torque with little unnatural feeling to a driver is applied. An ECU includes: a control amount calculation section that calculates a control amount for controlling magnitude of the assist torque or the reaction force torque with reference to steering torque applied to a steering member; and a control amount correction section that corrects the control amount calculated by the control amount calculation section with reference to a lateral G of a vehicle body, a steering angle of the steering member, and a steering angle speed of the steering member.

Abstract: The present invention achieves suspension control that allows for synchronization of the roll and the pitch of a vehicle. This suspension control device that controls the damping force of a suspension comprises: a target pitch angle calculation unit that calculates a target pitch angle with reference to a roll angle signal; and a target control amount computation unit that calculates the roll posture target control amount referred to for controlling the damping force of the suspension by referring to a steering torque signal and the target pitch angle.

Abstract: A road surface condition is determined appropriately. A road surface determining section (84) configured to determine a road surface state includes a threshold setting section (845) configured to set a threshold for determining the road surface state, so that a value of a desired control variable is multiplied by a coefficient determined in accordance with a result of the determination by the road surface determining section (84).

Abstract: A damping force of a suspension is controlled appropriately in accordance with a road surface condition. An ECU (600) includes: a road surface determining section (84) configured to determine a road surface condition; and a rolling attitude control section (682) configured to calculate a steering-based desired control variable, which is a candidate for a control variable for controlling a damping force of a suspension, in accordance with a result of the determination by the road surface determining section (84).

Abstract: An embodiment of the present invention allows for application of an assist torque or reaction torque which causes a driver to feel less discomfort. An ECU (600) includes a control variable calculating section (611) configured to calculate a control variable for controlling a magnitude of the assist torque or reaction torque, with reference to a steering torque applied to a steering member (410); and a control variable correcting section (612) configured to correct the control variable calculated by the control variable calculating section, with reference to a roll rate of a vehicle body, a steering angle of the steering member, and a steering angle speed of the steering member.

Abstract: A road surface condition is determined appropriately. A road surface determining section (84) configured to determine a road surface condition with reference to a wheel speed signal indicative of wheel speeds includes a band-stop filter (841) which acts on the wheel speed signal and has a cutoff frequency band which is changed in accordance with the wheel speed signal.

Abstract: An embodiment of the present invention provides higher ride comfort to a driver in control of steering and suspension. An ECU (600) includes: a steering control section (610) which controls a magnitude of an assist torque or a reaction torque; and a suspension control section (650) which controls a damping force of a suspension. The steering control section (610) refers to a state of a vehicle which state is predicted by the suspension control section (650), and the suspension control section (650) refers to a steering torque.

Abstract: An embodiment of the present invention allows for application of an assist torque or reaction torque which causes a driver to feel less discomfort. An ECU (600) includes a rack shaft axial force estimating section (620) configured to estimate a rack shaft axial force with reference to a roll rate of a vehicle body.

Abstract: A steering control device which applies an assist torque or a reaction torque to a steering member operated by a driver, includes: a torque loss estimation unit which estimates torque loss; and a correction amount calculation unit which calculates a correction amount according to a rack axial force estimation value calculated based on a roll rate when the torque loss estimation unit estimates the torque loss.

Abstract: Assist torque or reaction force torque with little unnatural feeling to a driver is applied. An ECU includes: a control amount calculation section that calculates a control amount for controlling magnitude of the assist torque or the reaction force torque with reference to steering torque applied to a steering member; and a control amount correction section that corrects the control amount calculated by the control amount calculation section with reference to a lateral G of a vehicle body, a steering angle of the steering member, and a steering angle speed of the steering member.

Abstract: A road surface condition is determined appropriately. A road surface determining section (84) configured to determine a road surface state includes a threshold setting section (845) configured to set a threshold for determining the road surface state, so that a value of a desired control variable is multiplied by a coefficient determined in accordance with a result of the determination by the road surface determining section (84).

Abstract: An embodiment of the present invention allows for application of an assist torque or reaction torque which causes a driver to feel less discomfort. An ECU (600) includes a control variable calculating section (611) configured to calculate a control variable for controlling a magnitude of the assist torque or reaction torque, with reference to a steering torque applied to a steering member (410); and a control variable correcting section (612) configured to correct the control variable calculated by the control variable calculating section, with reference to a roll rate of a vehicle body, a steering angle of the steering member, and a steering angle speed of the steering member.

Abstract: A road surface condition is determined appropriately. A road surface determining section (84) configured to determine a road surface condition with reference to a wheel speed signal indicative of wheel speeds includes a band-stop filter (841) which acts on the wheel speed signal and has a cutoff frequency band which is changed in accordance with the wheel speed signal.

Abstract: A damping force of a suspension is controlled appropriately in accordance with a road surface condition. An ECU (600) includes: a road surface determining section (84) configured to determine a road surface condition; and a rolling attitude control section (682) configured to calculate a steering-based desired control variable, which is a candidate for a control variable for controlling a damping force of a suspension, in accordance with a result of the determination by the road surface determining section (84).

Abstract: An embodiment of the present invention provides higher ride comfort to a driver in control of steering and suspension. An ECU (600) includes: a steering control section (610) which controls a magnitude of an assist torque or a reaction torque; and a suspension control section (650) which controls a damping force of a suspension. The steering control section (610) refers to a state of a vehicle which state is predicted by the suspension control section (650), and the suspension control section (650) refers to a steering torque.

Abstract: A motor-driven power steering apparatus including: a base current calculator configured to calculate a base current, which is a base for a target current, based on a detected torque detected by a torque sensor; a band-pass filter configured to allow a predetermined range of frequency components of the detected torque to the pass through the band-pass filter; a base shimmy compensation current calculator configured to calculate a base shimmy compensation current, considered a base for a shimmy compensation current required to suppress a disturbance torque, based on an extracted torque after passing through the band-pass filter; a shimmy compensation current calculator configured to calculate the shimmy compensation current by correcting the base shimmy compensation current according to magnitude of amplitude of the extracted torque; and a final target current determination unit configured to determine the target current based on the base current and the shimmy compensation current.

Abstract: Disclosed is a motor-driven power steering apparatus including: a base current calculator configured to calculate a base current, which is a base for a target current, based on a detected torque detected by a torque sensor; a band-pass filter configured to allow a predetermined range of frequency components of the detected torque to the pass through the band-pass filter; a base shimmy compensation current calculator configured to calculate a base shimmy compensation current, which is a base for a shimmy compensation current required to suppress a disturbance torque, based on an extracted torque after passing through the band-pass filter; a shimmy compensation current calculator configured to calculate the shimmy compensation current by correcting the base shimmy compensation current according to magnitude of amplitude of the extracted torque; and a final target current determination unit configured to determine the target current based on the base current and the shimmy compensation current.