Abstract: A steering control device is configured to control a steering system including a turning mechanism that includes a motor configured to generate a motor torque that serves as power for moving a turning shaft to turn turning wheels of a vehicle. The steering control device includes a control unit configured to control a target control value serving as a target of a control value for controlling the motor torque of the motor. The control unit is configured to perform compensation for the target control value; acquire an offset value; and change the target control value such that the acquired offset value decreases gradually.

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: The steering control system of a steer-by-wire vehicle includes a turning angle calculation unit for calculating a target turning angle based on a steering angle of a steering wheel, and a reaction torque calculation unit for calculating a target reaction torque based on a state of the vehicle. When an alert request is issued, the reaction torque calculation unit calculates a basic reaction torque based on the steering angle, calculates an alert reaction torque for notifying a vehicle state, and calculates the target reaction torque obtained by summing the basic reaction torque and the alert reaction torque. In a process of calculating the target turning angle from the steering angle, the turning angle calculation unit calculates the target turning angle by excluding a steering angle or a turning angle corresponding to the alert reaction torque.

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 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 control apparatus for a steering system includes control circuitry configured to perform an angle control process for controlling, to an angle command value, a convertible angle that is convertible into a rotational angle of the electric motor, a predetermined component calculation process for calculating a predetermined component containing at least one of two components that are a viscosity component and a friction component of the steering system, while using a value of a variable regarding a control quantity of the electric motor as an input, and a relationship change process for changing a relationship of an output from a control unit for the steering system to an input to the control unit, based on the predetermined component calculated through the predetermined component calculation process.

Abstract: A steering device turns a tire of a vehicle of a steer-by-wire system in which a steering mechanism and a turning mechanism are mechanically separated from each other and is provided with a turning device including a turning actuator and a turning angle control device. The turning actuator turns tires according to an instructed turning angle. The turning angle control device calculates a turning angle command value corresponding to an inputted steering angle signal and generates a signal driving the turning actuator based on that turning angle command value. The turning angle control device applies limit such that the absolute value of a turning angle velocity becomes equal to or below a turning angle velocity limit value set according to a predetermined parameter.

Abstract: A steering control device controls a steering device that includes an electric motor. The steering control device includes a control unit configured to control an operation of the steering device by controlling the electric motor. The control unit is configured to calculate a control value for controlling the electric motor, to calculate a predetermined component indicating characteristics of the steering device using a value of a variable associated with the control value as an input, and to determine whether a mechanical abnormality has occurred in the steering device based on the calculated predetermined component.

Abstract: A steering control device for a steering system includes an electronic control unit configured to: calculate target torque that is a target value of the motor torque; control operation of the motor; calculate a vehicle speed basic axial force based on a detected vehicle speed; calculate another state quantity basic axial force based on a state quantity other than the detected vehicle speed; calculate a distributed axial force by adding the vehicle speed basic axial force and the other state quantity basic axial force at individually set distribution ratios; calculate the target torque based on the distributed axial force; and reduce the distribution ratio of the vehicle speed basic axial force when the detected vehicle speed is abnormal as compared to when the detected vehicle speed is normal.

Abstract: A steering control system includes a central processing unit. The central processing unit calculates a plurality of types of axial forces acting on the turning shaft based on a state quantity. The central processing unit calculates a distributed axial force which is used to calculate the command value by summing the plurality of types of axial forces at predetermined distribution proportions. The central processing unit calculates the axial forces to have hysteresis with change of the state quantity. The hysteresis of each axial force is adjusted to approach hysteresis of one specific axial force out of the plurality of types of axial forces.

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 steering control device includes a control unit configured to perform a calculation based on angle information and to control the operation of a turning section based on a turning control amount. The angle information is obtained by relating the turning control amount for operating the turning section to a steering angle that is an angle by which a steering wheel is steered. The control unit includes a speed increase ratio calculation unit configured to calculate a speed increase ratio based on state variables, and an angle information calculation unit configured to calculate the angle information by converting the steering angle using the speed increase ratio obtained by the speed increase ratio calculation unit.

Abstract: A steering control device controls, as a target, a steering device including a steering actuator and a turning actuator that has a structure with a power transmission path cut off from the steering actuator, and can reflect a state of an automated driving command. A control unit is configured to execute: turning-side synchronization control when the absolute value of a deviation amount is a value within a first range; steering-side synchronization control when the absolute value of the deviation mount is a value within a second range that is a larger value than a value within the first range; and at least one of the turning-side synchronization control and the steering-side synchronization control when the absolute value of the deviation amount is a value within a third range that is a value between a value within the first range and a value within the second range.

Abstract: A steering device includes a turning shaft, a steering mechanism, a motor, and a control device. The control device includes a steering-range axial force calculating circuit, a limiting axial force calculating circuit, a final axial force calculating circuit, and an axial force adjusting circuit. The steering-range axial force calculating circuit calculates a steering-range axial force when a steering wheel is operated in a predetermined operation range. The limiting axial force calculating circuit calculates a limiting axial force. The final axial force calculating circuit calculates a final axial force. The axial force adjusting circuit adjusts a value of the steering-range axial force, the limiting axial force, or the final axial force based on the axial force that reflects the force acting on the turning shaft.

Abstract: A steering control device is configured to control a motor, the motor being a generation source of a driving force that is given to a steering mechanism of a vehicle. The steering control device includes a controller configured to compute a controlled variable depending on a steering state, the controlled variable being used in the control of the motor. The controller is configured to alter a control parameter for the controller, based on a command that is generated by a host control device depending on a purpose of an intervention in a steering control, the host control device being mounted on the vehicle.

Abstract: A controller for a steering device includes an electronic control unit configured to control the steering device. The electronic control unit is configured to acquire an action force and to calculate a basic reaction force based on the acquired action force. The action force includes at least two of axial forces of a plurality of types and a tire force. The axial forces of a plurality of types are applied to a turning shaft that is connected to turning wheels. The tire force is applied to the turning wheels. The electronic control unit is configured to, when one predetermined force of the acquired action force is abnormal, calculate the basic reaction force such that a contribution proportion of the predetermined force to the basic reaction force is lower than a contribution proportion when the predetermined force is not abnormal.

Abstract: A vehicle control system controls a steer-by-wire type vehicle. The vehicle control system executes: reaction force control that applies a steering reaction force to a steering wheel; and driving assist control that assists driving of the vehicle. The reaction force control includes road information transmission control that applies a steering reaction force component corresponding to an oscillation caused by road surface unevenness to the steering wheel. The vehicle control system deactivates the road information transmission control when a deactivation condition is satisfied. The deactivation condition is that the driving assist control is in operation and a steering parameter reflecting a driver's steering intention is less than a threshold. As another example, the deactivation condition is that the driving assist control that vibrates the steering wheel for notifying the driver of a possibility of a lane departure is in operation.

Abstract: A steering apparatus includes: a steering mechanism including a turning shaft; a motor configured to give a drive force to the steering mechanism; and a controller configured to control the motor based on a command value. The controller includes a first computation circuit, a second computation circuit and a third computation circuit. The first computation circuit is configured to compute a shaft force that acts on the turning shaft. The second computation circuit is configured to compute a value indicating the degree of intervention in a steering control by a host controller, such that the value gradually changes with respect to time. The third computation circuit is configured to compute a final shaft force, by reflecting the value indicating the degree of the intervention, in the shaft force.

Abstract: A vehicle speed calculating device includes a vehicle speed calculating unit configured to calculate a control vehicle speed that is acquired by estimating a vehicle body speed that is a speed at which a vehicle is actually traveling, as a state variable used to control an onboard device configured to operate to realize various functions provided in the vehicle. The vehicle speed calculating unit is configured to include an extraction function of extracting at least one wheel speed acquired from at least one wheel that is assumed to be rotating in a state in which an influence causing a difference from the vehicle body speed is likely to be small, out of wheel speeds of a plurality of wheels, and a calculation function of calculating the control vehicle speed based on the at least one wheel speed extracted by the extraction function.

Abstract: In a steering system including a steering operation mechanism, a second actuator, a steering angle sensor, a steering torque sensor, and a steering operation control device and a control method for the steering system, only a drive assist target steered angle (first target steered angle) is reflected in a final target steered angle when a torque sensor value (actual steering torque) detected by the steering torque sensor is equal to or less than an intervention threshold. When the magnitude of the torque sensor value is more than the intervention threshold, the rate of reflection (distribution ratio) of a driver target steered angle (second target steered angle) in the final target steered angle is raised as the torque sensor value is increased, and the rate of reflection of the driver target steered angle in the final target steered angle is lowered as the magnitude of the torque sensor value is decreased.