Abstract: A moving body having a steering device and a steering control device which controls the steering device to control steering of the moving body. The steering control device selectively performs a first steering control which controls the steering of the moving body based on a movement status of the moving body and a second steering control which limits the steering of the moving body. The steering control device performs the second steering control based on a steering state of the moving body by the first steering control before occurrence of a failure when the failure related to execution of the first steering control occurs in a state where the first steering control is performed.

Abstract: A vehicle behavior information acquisition device includes: a neutral characteristic setting unit in which a vehicle velocity-neutral yaw rate characteristic where a behavior of a user's vehicle is supposed to be in a neutral state is previously set based on a vehicle velocity and a steering angle of the vehicle; and a behavior information acquisition unit for acquiring behavior information including an understeer state of the vehicle based on an actual yaw rate, a vehicle velocity, a steering angle, and a vehicle velocity-neutral yaw rate characteristic previously set in the neutral characteristic setting unit. The behavior information acquisition unit acquires behavior information indicating that the vehicle is in an understeer state in a case where a deviation between the actual yaw rate and a neutral yaw rate based on the vehicle velocity, the steering angle, and the vehicle velocity-neutral yaw rate characteristic exceeds a predetermined deviation threshold.

Abstract: An electric power steering device includes a steering angle reference yaw rate calculation section that calculates a steering angle reference yaw rate by using a speed of a vehicle and a steering angle of a steering wheel, a torque estimation device that estimates a self-aligning torque (SAT) generated in a turning wheel of the vehicle on the basis of a measured yaw rate or the steering angle reference yaw rate, the absolute value of which is smaller, and the speed of the vehicle, and estimates a required assist torque on the basis of the estimated SAT, and an abnormality determination section that determines whether or not a steering torque sensor is abnormal. If the steering torque sensor is abnormal, an EPS control device controls drive of an assist motor using the required assist torque estimated by the torque estimation device, in place of a steering torque.

Abstract: An electric power steering apparatus provides a steering assist force to the steering system of a vehicle by controlling driving of an assist motor in accordance with a steering force acting on the steering wheel. The electric power steering apparatus includes a yaw rate sensor that obtains a measured yaw rate of the vehicle, a vehicle speed sensor that detects the speed of the vehicle, a steering angle sensor that detects the steering angle of the steering wheel, and a torque estimating apparatus that estimates a self-aligning torque on the basis of the vehicle speed and data having a smaller absolute value among the measured yaw rate and the steering-angle standard yaw rate and that corrects the steering assist force on the basis of the estimated self-aligning torque.

Abstract: An electric power steering device includes a steering angle reference yaw rate calculation section that calculates a steering angle reference yaw rate by using a speed of a vehicle and a steering angle of a steering wheel, a torque estimation device that estimates a self-aligning torque (SAT) generated in a turning wheel of the vehicle on the basis of a measured yaw rate or the steering angle reference yaw rate, the absolute value of which is smaller, and the speed of the vehicle, and estimates a required assist torque on the basis of the estimated SAT, and an abnormality determination section that determines whether or not a steering torque sensor is abnormal. If the steering torque sensor is abnormal, an EPS control device controls drive of an assist motor using the required assist torque estimated by the torque estimation device, in place of a steering torque.

Abstract: A vehicle behavior information acquisition device includes: a neutral characteristic setting unit in which a vehicle velocity-neutral yaw rate characteristic where a behavior of a user's vehicle is supposed to be in a neutral state is previously set based on a vehicle velocity and a steering angle of the vehicle; and a behavior information acquisition unit for acquiring behavior information including an understeer state of the vehicle based on an actual yaw rate, a vehicle velocity, a steering angle, and a vehicle velocity-neutral yaw rate characteristic previously set in the neutral characteristic setting unit. The behavior information acquisition unit acquires behavior information indicating that the vehicle is in an understeer state in a case where a deviation between the actual yaw rate and a neutral yaw rate based on the vehicle velocity, the steering angle, and the vehicle velocity-neutral yaw rate characteristic exceeds a predetermined deviation threshold.

Abstract: An electric power steering apparatus provides a steering assist force to the steering system of a vehicle by controlling driving of an assist motor in accordance with a steering force acting on the steering wheel. The electric power steering apparatus includes a yaw rate sensor that obtains a measured yaw rate of the vehicle, a vehicle speed sensor that detects the speed of the vehicle, a steering angle sensor that detects the steering angle of the steering wheel, and a torque estimating apparatus that estimates a self-aligning torque on the basis of the vehicle speed and data having a smaller absolute value among the measured yaw rate and the steering-angle standard yaw rate and that corrects the steering assist force on the basis of the estimated self-aligning torque.