Abstract: A steering control device includes a control circuit configured to control driving of a reaction force motor that generates steering reaction force applied to a steering wheel in which power transmission with turning wheels of a vehicle is separated. When a vehicle power source is turned on, the control circuit requests a vehicle control device to stop traveling of the vehicle when information is exchanged with the vehicle control device in a manner that does not follow a predetermined pattern.

Abstract: A steering control device includes a controller including a drive circuit that performs action for supplying, to a motor, electric power supplied by being connected to at least one of a first and a second power supply. When a connection state of the drive circuit is a state in which electric power is supplied from the first power supply, the connection state is switched by a power supply device to transition to a second state in which electric power is supplied from the second power supply when an abnormality of the first power supply is detected. Moreover, the controller starts an output limiting process of limiting torque outputtable by the motor as compared with before the abnormality of the first power supply is detected, after the abnormality is detected and before switching of the connection state is completed.

Abstract: A control device includes control circuits of a plurality of systems. When a transition condition is established, the control circuits of the systems make transition of a driving mode from a first driving mode to a second driving mode, and when a return condition is established in a state in which the driving mode has transitioned to the second driving mode, the control circuits of the systems make transition of the driving mode from the second driving mode to the first driving mode while gradually changing the current command values of the control circuits’ own systems toward the current command values before the adjustment.

Abstract: A control device for a vehicle includes a plurality of control circuits configured to control a control object in cooperation or in combination by starting with powering-on of a vehicle as a trigger. Each of the plurality of control circuits is configured to perform a synchronization process and power latch control. Each of the plurality of control circuits is configured to maintain the operation mode immediately before the vehicle has been powered off in a period in which the power latch control is being performed. Each of the plurality of control circuits is configured not to perform the synchronization process in a predetermined period when the vehicle has been powered on.

Abstract: A control device for a vehicle includes a plurality of control circuits configured to control a control object by starting in response to powering-on of a vehicle and to perform power latch control for continuing to be supplied with electric power in a predetermined period in response to powering-off of the vehicle. Each of the control circuits is configured to perform starting after all of the control circuits have recognized the powering-on of the vehicle in a case where the vehicle is powered on while the power latch control is being performed after the vehicle has been powered off.

Abstract: An actuator that applies force to a member associated with steering, and a control device that controls the actuator, have duplex configuration. First and second control devices compute the same controlled variable as first and second controlled variables, respectively. In a normal mode, the control device controls the actuator according to the first controlled variable. The first and second control devices send and receive respectively computed controlled variables to and from each other via communications. When a discrepancy arises between the first and second controlled variables, or an abnormality occurs in communications between the first and second control devices, the operating mode is switched from the normal mode to an independent mode. In the independent mode, the first and second control devices control the first and second actuators, according to the first and second controlled variables, respectively.

Abstract: A steering control device includes a base axial force calculator, a limiting axial force calculator, and a final axial force calculator. The limiting axial force calculator includes a steering angle holder, a reference angle calculator, a final difference calculator, and an axial force calculator. The steering angle holder is configured to hold a steering angle at the time of limiting a turning operation of the turning wheels when the turning operation is limited. The reference angle calculator is configured to calculate a reference angle. The final difference calculator is configured to calculate a final difference which is a final difference between the reference angle and the current steering angle. The axial force calculator is configured to calculate a limiting axial force based on a value of the final difference.

Abstract: An actuator that applies force to a member associated with steering, and a control device that controls the actuator, have duplex configuration. First and second control devices compute the same controlled variable as first and second controlled variables, respectively. In a normal mode, the control device controls the actuator according to the first controlled variable. The first and second control devices send and receive respectively computed controlled variables to and from each other via communications. When a discrepancy arises between the first and second controlled variables, or an abnormality occurs in communications between the first and second control devices, the operating mode is switched from the normal mode to an independent mode. In the independent mode, the first and second control devices control the first and second actuators, according to the first and second controlled variables, respectively.

Abstract: A steering system is configured such that electric power is supplied to a steering actuator and a turning actuator from a first power supply when a power state of a vehicle is an on state and supply of the electric power from the first power supply is cut off when the power state is an off state. The steering system includes a rotation curbing unit configured to operate such that rotation of the steering wheel is curbed in at least a part of a first power-off period from when the power state becomes an off state until when the power state becomes the on state next, as an operating period, and a second power supply configured to supply, to the rotation curbing unit, the electric power required for operation of the rotation curbing unit in the operating period, the second power supply being different from the first power supply.

Abstract: A steer-by-wire steering system for a vehicle, including: an operating member operable by a driver; a dual-system steering device including two systems each of which includes an electric motor as a drive source, the steering device being configured to steer a wheel; and a controller configured to control a current to be supplied to each of the electric motors of the respective two systems so as to cause the steering device to steer the wheel in accordance with an operation of the operating member, wherein the controller is configured to prohibit the current greater than an upper limit value from being supplied to the electric motors of the respective two systems, and wherein, when the wheel is steered only by only one of the two systems, the controller raises the upper limit value of the current to be supplied to the electric motor of the one of the two systems.

Abstract: A steer-by-wire steering system, including a steering device including a dual-system steering motor including a main system and a sub system, wherein a power supply to the main system is conducted selectively by a main power source and a backup power source, and a power supply to the sub system is conducted by only the main power source, wherein, in a normal power-supply situation in which the power supply to the main system and to the sub system is conducted by the main power source, a controller controls the sub system to operate in accordance with the main system, and wherein, in a backup power-supply situation in which the power supply to the main system is conducted by the backup power source, the controller controls the main system not to operate or to operate while limiting the power supply to the main system and controls the sub system independently.

Abstract: A steer-by-wire vehicle includes a steering actuator configured to turn a wheel and a reaction actuator configure to apply a torque to a steering wheel. An electronic control unit of a control apparatus for the vehicle is configured to execute normal steering control for turning the wheel and applying a reaction torque to the steering wheel according to a rotation of the steering wheel, and, when an activation condition including that the normal steering control is not needed is satisfied, execute rotation suppression control for suppressing the rotation of the steeling wheel without prohibiting the rotation of the steering wheel. Specifically, the electronic control unit is configured to, based on a steering speed or a steering torque, determine a rotation suppression torque for suppressing the rotation of the steering wheel, and control the reaction actuator such that the rotation suppression torque is applied to the steering wheel.

Abstract: A steer-by-wire steering system for a vehicle, including: an operating member operable by a driver; a steering device including an electric motor and configured to steer a wheel by a force generated by the electric motor; a controller configured to control the steering device, wherein the controller enables the wheel to be steered in accordance with an operation of the operating member while imposing limitation on a supply current to the electric motor, and wherein the limitation imposed on the supply current is made smaller when a running speed of the vehicle is lower than a set speed and a steering motion of the wheel is a motion in a direction to decrease a steering amount than i) when the running speed of the vehicle is not lower than the set speed and ii) when the steering motion of the wheel is a motion in a direction to increase the steering amount.

Abstract: A main power supply having a large capacity and a backup power supply having a small capacity are switchable by a power supply switching determination unit in a system. A motor control device drives a motor by the main power supply or the backup power supply. A drive control unit outputs a drive signal, calculated by feedback control of the current detection value with respect to the current command value, to an inverter circuit. When the power supply switching determination unit switches from the main power supply to the backup power supply, the drive control unit moves from a normal control using the main power supply to a backup control that restricts an electric power consumption and prevents the backup power supply from stopping.

Abstract: Control calculation units of a back system in each actuator operate by a collaborative drive mode in which a torque is output to a motor drive unit by using an information transmitted and received mutually by a communication between the systems in common. Cooperative control calculation units in a reaction force actuator and a turning actuator can operate in cooperation with each other based on the information transmitted and received mutually by a communication between actuators. A communication between adjacent systems and a communication between adjacent actuators are restored, when a focus control calculation unit is restored, after the focus control calculation unit is stopped during operation and at least one of the communication between adjacent systems or the communication between adjacent actuators is interrupted.

Abstract: A first actuator and a second actuator each have a plurality of control calculation units provided redundantly and a plurality of motor drive units provided redundantly. In the first and the second actuators, the control calculation units of the systems paired with each other transmit and receive information to and from each other by a communication between the actuators. When a failure occurs in any system in either of the two actuators, or when a failure occurs in a communication between actuators in either system, the control calculation unit of each actuator of the system in which the failure occurred stops the motor drive control. Then, the motor drive control is continued by the control calculation unit of the normal system in both actuators.

Abstract: A motor drive system is provided in a steer-by-wire system in which a steering mechanism and a turning mechanism of a vehicle are mechanically separated. The motor drive system includes a reaction force actuator and a turning actuator. The reaction force actuator functions as a motor configured to output a reaction force torque corresponding to a steering torque of a driver and a road surface reaction force. The turning actuator functions as a motor configured to output a turning torque for turning wheels. Each of the reaction force actuator and the turning actuator includes a plurality of control calculation units provided redundantly and each configured to perform a calculation related to a motor drive control, and a plurality of motor drive units provided redundantly and each configured to drive and output the torque based on a drive signal generated by a corresponding control calculation unit.

Abstract: A steering control device includes a first calculator configured to calculate a first axial force, a second calculator, and a third calculator configured to calculate a third axial force. The third calculator is configured to, when a specific situation occurs in which a current of a turning motor has to be limited, decrease a reflection degree of the first axial force in the third axial force and increase a reflection degree of the second axial force in the third axial force.

Abstract: A steer-by-wire steering system for a vehicle, including: an operating device including a steering operating member, a counterforce applying mechanism configured to apply, to the steering operating member, an operation counterforce by a counterforce motor, and an operating controller configured to control the operation counterforce; a steering device including a steering actuator configured to steer a wheel by a steering motor and a steering controller configured to control an amount of steering of the wheel by the steering actuator; and a communication line communicably connecting the operating controller and the steering controller, wherein the steering controller is configured to: determine a status code based on a status of the steering device; and transmit the status code to the operating controller via the communication line; and wherein the operating controller is configured to change a magnitude of the operation counterforce in accordance with the status code received by the operating controller.

Abstract: A steer-by-wire steering system, including: a two-system reaction force applying device including two reaction force controllers and configured to obtain operation information and apply an operation reaction force; a two-system steering device including two steering controllers and configured to steer a wheel; an operation information obtaining device; an auxiliary steering device capable of changing a direction of a vehicle; two dedicated communication lines one of which information-transmittably and information-receivably connects one of the two reaction force controllers and one of the two steering controllers to each other, and the other of which information-transmittably and information-receivably connects the other of the two reaction force controllers and the other of the two steering controllers to each other; and a first communication bus to which the operation information obtaining device is at least information-transmittably connected and to which the two steering controllers and the auxiliary stee