Abstract: A coupling system and related methods are disclosed. The system has a first plug detachably coupled to a first housing, and a first socket detachably coupled to a second housing. The first socket is configured to receive the first plug. The system is movable between a first configuration wherein the first and second housings are not engaged and a second configuration wherein the first and second housings are engaged and the first plug and the first socket are coupled together.

Abstract: A steering system includes a control unit. The control unit includes a manual steering angle command value setting unit, a first weighting unit, a reaction combined angle command value calculating unit, a turning combined angle command value calculating unit, a reaction force control unit configured to cause a rotation angle of a reaction motor to conform to a reaction combined angle command value, and a turning angle control unit configured to cause a rotation angle of a turning motor to conform to a turning combined angle command value.

Abstract: A vehicle steering device includes a first setting portion 41 that sets a target assist torque in accordance with a steering torque, a second setting portion 42 that sets an angle controlling target torque for bringing an angular deviation between a target steering angle and an actual steering angle close to zero, an estimator that estimates a compensation object 43 load with respect to the angle controlling target torque, a first calculating portion 44 that calculates a target automatic steering torque based on the angle controlling target torque set by the second setting portion and the compensation object load estimated by the estimator, and a second calculating portion 44 that performs weighted addition of the target automatic steering torque and the target assist torque in accordance with a value that changes in accordance with a driver input to calculate a target motor torque that is a target value of a motor torque of the electric motor.

Abstract: A steering device includes a steering member, a steering operation mechanism, a reactive force motor, a steering motor that drives the steering operation mechanism, a steering torque sensor, and an electronic control unit. The electronic control unit sets a manual steering angle command value. The electronic control unit computes a reactive-force-related composite angle command value. The electronic control unit computes a steering-related composite angle command value based on a steering-related automatic steering angle command value and the manual steering angle command value. The electronic control unit causes a rotational angle of the reactive force motor to follow the reactive-force-related composite angle command value. The electronic control unit causes a rotational angle of the steering motor to follow the steering-related composite angle command value. The electronic control unit estimates a first disturbance torque.

Abstract: A vehicle steering device includes an electric motor applying a steering force to a vehicle turning mechanism, a first setting portion setting a target assist torque in accordance with a steering torque, a second setting portion setting an angle controlling target torque for bringing an angular deviation between a target steering angle and an actual steering angle close to zero, a restriction processing portion restricting the angle controlling target torque set by the second setting portion, a first calculating portion calculating a target automatic steering torque using the angle controlling target torque after the restriction process by the restriction processing portion, and second calculating portions performing weighted addition of the target automatic steering torque and the target assist torque in accordance with a value that changes in accordance with a driver input to calculate a target motor torque that is a electric motor target motor torque value.

Abstract: A motor controlling ECU 202 includes an automatic steering controller 42 that sets an automatic steering control amount, an assist controller 41 that sets an assist control amount, an integrated control amount calculating portion 43 that calculates an integrated control amount by adding the automatic steering control amount and the assist control amount, and an actual automatic steering angle calculating portion 46 that calculates, based on at least one of either of a steering torque and the assist control amount, an actual automatic steering angle that is a steering angle due to automatic steering control and included in an actual steering angle. The automatic steering controller 42 uses a target automatic steering angle and the actual automatic steering angle to set the automatic steering control amount.

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: An electric power steering system includes an electric motor, a rotational angle detection unit, a current detection circuit, a steering torque detection unit, a target torque setting unit, a current command value setting unit, and a current control unit. The target torque setting unit includes a basic target torque setting unit, a first compensation value computation unit, a second compensation value computation unit, and a correction unit. The basic target torque setting unit sets basic target torque for the electric motor. The first compensation value computation unit sets a first compensation value based on steering torque. The second compensation value computation unit computes a second compensation value which is an estimated value of disturbance torque other than the steering torque. The correction unit corrects the basic target torque.

Abstract: Provided is a steering system including a controller that controls an electric motor. The controller has a combined friction torque estimation unit that estimates a combined friction torque combining friction torques occurring in respective transmission devices including a first transmission device. The combined friction torque estimation unit has a slipping speed calculation part that calculates a slipping speed of the first transmission device based on an angular speed of the electric motor, a friction coefficient calculation part that calculates a friction coefficient of the first transmission device based on the slipping speed, a tooth flank normal force calculation part that calculates a normal force acting on a tooth flank of the first transmission device, and a friction torque calculation part that calculates the combined friction torque using the friction coefficient, the tooth flank normal force, and one or more preset correction factors.

Abstract: A steering system includes: a steering member; a steering operation mechanism; a reaction force motor; a steering motor; a steering torque sensor; a command value setting circuit; a reaction force command value calculation circuit configured to calculate a reaction force command value; a steering operation command value calculation circuit configured to calculate a steering operation command value based on a steering operation steering angle command value and a manual steering angle command value; a reaction force control circuit configured to cause a rotation angle of the reaction force motor to follow the reaction force command value; and a steered angle control circuit configured to cause a rotation angle of the steering motor to follow the steering operation command value.

Abstract: A steering system includes an electric motor, a detector, and a controller of a vehicle. The controller is configured to control the electric motor by switching an autonomous steering mode, a manual steering mode, and a cooperative steering mode. The controller is configured to control the electric motor in the cooperative steering mode unconditionally or when a predetermined condition is satisfied in a case where a situation to switch a steering mode to the manual steering mode during control in the autonomous steering mode is predicted and a manual steering request is transmitted at a time point that is prior, by a first predetermined time, to occurrence of the situation, or is transmitted when the vehicle arrives at a point that is located a first predetermined distance before a point where the situation is to occur.

Abstract: An electric power steering system includes a second shaft coupled to a first shaft via a torsion bar, a basic driver torque estimation unit (extended state observer) configured to estimate a basic driver torque by using a disturbance observer based on a torsion bar torque and a rotation angle of the second shaft, a gravity torque calculation unit configured to calculate, by using a rotation angle of a steering wheel, a gravity torque applied to the first shaft by gravity acting on the center of gravity of the steering wheel, and a driver torque estimation unit configured to estimate a driver torque by using the basic driver torque estimated by the basic driver torque estimation unit and the gravity torque calculated by the gravity torque calculation unit.

Abstract: A manual steering command value generation unit generates a manual steering command value using steering torque. An integrated angle command value computation unit computes an integrated angle command value by adding the manual steering command value to an automatic steering command value. A control unit performs angle control on an electric motor on the basis of the integrated angle command value. The control unit includes: a basic torque command value computation unit that computes a basic torque command value on the basis of the integrated angle command value; a disturbance torque estimation unit that estimates disturbance torque other than motor torque that is generated by the electric motor and acts on an object to be driven by the electric motor; and a disturbance torque compensation unit that corrects the basic torque command value in accordance with the disturbance torque.

Abstract: A coupling system and related methods are disclosed. The system has a first plug detachably coupled to a first housing, and a first socket detachably coupled to a second housing. The first socket is configured to receive the first plug. The system is movable between a first configuration wherein the first and second housings are not engaged and a second configuration wherein the first and second housings are engaged and the first plug and the first socket are coupled together.

Abstract: A steering device includes a steering wheel, a torsion bar, a spiral cable, a torque sensor, and an electronic control unit. The electronic control unit is configured to compute a rotational angle of the steering wheel. The electronic control unit is configured to compute, as driver torque, a value that includes a sum obtained by adding torsion bar torque, a steering wheel inertial torque compensation value and a spiral cable torque compensation value. The steering wheel inertial torque compensation value is the product of a steering wheel inertial moment and a second-order differential value of the rotational angle of the steering wheel. The spiral cable torque is torque that acts on the steering wheel because of the spiral cable.

Abstract: A coupling system and related methods are disclosed. The system has a first plug detachably coupled to a first housing, and a first socket detachably coupled to a second housing. The first socket is configured to receive the first plug. The system is movable between a first configuration wherein the first and second housings are not engaged and a second configuration wherein the first and second housings are engaged and the first plug and the first socket are coupled together.

Abstract: A steering apparatus includes: a first shaft which is coupled to a steering wheel; a torsion bar; a second shaft which is coupled to the first shaft through the torsion bar; a torsion bar torque detection unit detecting a torsion bar torque which is applied to the torsion bar; and an electronic control unit configured to estimate a driver torque which is applied to the steering wheel by a driver. The electronic control unit is configured to: i) compute a steering wheel rotation angle which is a rotation angle of the steering wheel; and ii) compute a value including an added value, as the driver torque, the added value being a value resulting from adding the torsion bar torque, a steering wheel inertia torque compensation value, and a gravity torque compensation value.

Abstract: A vehicle steering device includes a steering wheel, an input shaft, an output shaft coupled to the input shaft via a torsion bar, an electric motor, a torque detector that detects a torsion bar torque applied to the torsion bar, a rotational angle detector that detects a rotational angle of the electric motor, and a microcomputer. The microcomputer is configured to estimate a driver torque applied to the steering wheel using at least (i) the torsion bar torque detected by the torque detector, (ii) the rotational angle of the electric motor detected by the rotational angle detector, and (iii) a physical model that is constructed with a torsion bar viscosity and a torsion bar rigidity, and determine whether the steering wheel is operated in a hands-on state or a hands-off state based on the estimated driver torque.

Abstract: A vehicle steering device includes a driver torque estimation unit that includes a driver torque estimation observer, a low-pass filter, and a hands-on/off determination unit. The driver torque estimation observer estimates driver torque applied to a steering wheel by a driver on the basis of a detected value that includes at least torsion bar torque detected by a torque sensor and the rotational angle of an electric motor detected by a rotational angle sensor. The low-pass filter performs a low-pass filtering process on the estimated driver torque. The hands-on/off determination unit determines whether in a hands-on state or a hands-off state on the basis of the driver torque after being subjected to the low-pass filtering process.

Abstract: A coupling system and related methods are disclosed. The system has a first plug detachably coupled to a first housing, and a first socket detachably coupled to a second housing. The first socket is configured to receive the first plug. The system is movable between a first configuration wherein the first and second housings are not engaged and a second configuration wherein the first and second housings are engaged and the first plug and the first socket are coupled together.