Abstract: A target reaction force torque calculation unit includes a reaction force component calculation unit that calculates a reaction force component, a target steering torque calculation unit that calculates a target steering torque, a torque feedback control unit that calculates a torque feedback component by performing torque feedback control for making a steering torque follow the target steering torque, a target steering angle calculation unit that calculates a target steering angle, and a steering angle feedback control unit that calculates a steering angle feedback component by performing steering angle feedback control for making a steering angle follow the target steering angle. The target reaction force torque calculation unit calculates a target reaction force torque by adding the torque feedback component and the steering angle feedback component. When an end reaction force exceeds a threshold torque, the torque feedback component is set to zero.

Abstract: A controller includes a control circuit configured to calculate a target corresponding steered angle that is a target value of a corresponding steered angle based on the transmission ratio associated with the vehicle speed. The corresponding steered angle is a rotation angle of a rotation shaft, which is convertible to the steered angle whose magnitude is changed relative to a value indicating the steering angle. The control circuit is configured to control the actuation of the motor so that an actual corresponding steered angle is a final target corresponding steered angle that is based on the target corresponding steered angle. The control circuit is configured to calculate the target corresponding steered angle by adjusting the transmission ratio based on a value indicating acceleration or deceleration of a vehicle.

Abstract: A steering control apparatus includes an electronic control unit. The electronic control unit computes a first component of a command value. The electronic control unit computes a target rotation angle of a rotatable element based on an input torque. The rotatable element rotates with an operation of the steering wheel. The electronic control unit computes a second component of the command value through feedback control. The electronic control unit computes an ideal axial force based on the target rotation angle. The electronic control unit shifts the ideal axial force as a function of a cross slope, which is a slope in a direction that intersects at right angles with a road, in a specified direction with reference to a neutral value of the ideal axial force, associated with a state where the vehicle travels straight ahead.

Abstract: An input torque fundamental component computation circuit includes: a torque command value computation circuit that computes a torque command value corresponding to a target value for steering torque that is to be input by a driver for drive torque obtained by adding the steering torque to an input torque fundamental component; and a torque F/B control circuit that computes the input torque fundamental component through execution of torque feedback control for causing the steering torque to follow the torque command value. A target steering angle computation circuit computes a target steering angle on the basis of the input torque fundamental component. A steering-side control circuit computes target reaction force torque on the basis of execution of angle feedback control for causing a steering angle to follow a target steering angle. The torque command value computation circuit computes the torque command value in consideration of the grip state amount.

Abstract: A steering control device includes a control unit, and the control unit includes a target steering angle calculating unit configured to calculate a target steering angle based on a steering torque and is configured to calculate a target reaction torque based on execution of feedback control for causing the steering angle to match the target steering angle. The control unit includes a plurality of axial force calculating units configured to calculate a plurality of kinds of axial forces acting on a turning shaft based on different state quantities and a grip state quantity calculating unit configured to calculate a grip state quantity based on the plurality of kinds of axial forces. The target steering angle calculating unit is configured to calculate the target steering angle in consideration of the grip state quantity.

Abstract: Provided is a steering controller configured to suppress deterioration of the operability of a steering wheel for steering steered wheels even when a driving voltage for a steering system has been decreased. When a clutch is in a disengaged state and steered wheels are steered by a steered-operation actuator while a reaction force is applied to steering wheel by a reaction-force actuator, if a driving voltage for the steered-operation actuator is decreased, a CPU opens relays and stops generation of torque by the steered-operation actuator. Meanwhile, a CPU engages the clutch and steers the steered wheels through cooperation between a steering torque input into the steering wheel and an assist torque generated by a reaction-force motor.

Abstract: A steering system includes a reaction drive apparatus to apply a reaction force to a steering member, a steering operation drive apparatus to turn steered wheels, a movement drive apparatus to move the steering member between an operation position and a retraction position, a mode switching circuit to switch a manual driving mode and an automatic driving mode, a movement control circuit to move the steering member to the operation position when switched to the manual driving mode, and to move the steering member to the retraction position when switched to the automatic driving mode, a reaction control circuit to control the reaction drive apparatus in the manual driving mode based on steering information of the steering member and steering operation information of the steering operation drive apparatus, and an actuation restriction circuit to restrict actuation of the steering member in the automatic driving mode.

Abstract: A controller controls a steering motor in accordance with a pinion angle command value calculated in response to a steering state. The steering motor produces a driving force to a steering operation mechanism. The controller calculates a target pinion angle in accordance with the steering state and the pinion angle command value by performing feedback control such that an actual pinion angle corresponds to the target pinion angle. The controller includes a compensation control circuit which calculates compensation amounts reflected in the pinion angle command value so as to compensate for an inertia component, a viscosity component, and a spring component of the steering operation mechanism in accordance with the target pinion angle. The compensation control circuit adds the compensation amounts to the target pinion angle so as to calculate the final target pinion angle to be used for the calculation of the pinion angle command value.

Abstract: Provided is a steering control device that controls a steer-by-wire steering system for a vehicle and that is capable of reducing erroneous detection of a grip state and improving the robustness in controlling a steering reaction force. The control device includes a road surface axial force calculation circuit that calculates a road surface axial force, based on road surface information. The control device includes a second estimated axial force calculation circuit that calculates a lateral force applied to a rack shaft, based on a yaw rate and a lateral acceleration. The control device includes a grip factor calculation circuit that calculates a grip factor, based on the road surface axial force and the lateral force. The control device varies the steering reaction force in accordance with the grip factor.

Abstract: A control device controls a reaction force motor that generates a steering reaction force to be applied to a steering mechanism of a vehicle, based on a steering reaction force command value calculated according to a steering state. An axial force distribution calculation circuit of the control device calculates a mixed axial force by summing values obtained by multiplying an ideal axial force and estimated axial forces by individually set distribution rates. The axial force distribution calculation circuit calculates a final axial force to be reflected in the steering reaction force command value, by summing values obtained by multiplying the ideal axial force and the mixed axial force by individually set distribution rates. The axial force distribution calculation circuit sets the distribution rates of the ideal axial force and the mixed axial force, based on a distribution command generated by the host control device when intervening in steering control.

Abstract: Provided is a steering control apparatus capable of performing adjustment so as to suppress deterioration in a steering feel that is caused by a twist of a torsion bar. A torsional stiffness control circuit includes a torsion angle calculation circuit, a gain calculation circuit, multiplication circuits, and an addition circuit. The torsion angle calculation circuit calculates a torsion angle based on a steering torque. The gain calculation circuit calculates a gain having a positive or negative value based on a value obtained by multiplying the steering torque and a steering speed together by the multiplication circuit. The multiplication circuit calculates a compensation amount by multiplying the torsion angle and the gain together. The addition circuit calculates a target pinion angle having a compensated phase by adding the compensation amount to a target steering angle.

Abstract: A steering control device includes a controller configured to execute turning processing of controlling a controlled variable to a command value corresponding to an operation of a steering wheel by controlling a turning-side actuator in a cutoff state, the controlled variable being at least one of a turning angle of the steered wheels and a turning angle rate that is a changing rate of the turning angle; and transmission switching processing of controlling a switching device such that the switching device is switched from the cutoff state to a transmission state on condition that an absolute value of a difference between the controlled variable and the command value continues to be equal to or larger than a threshold when the turning processing is executed.

Abstract: A correction circuit receives a steering torque and an electric signal indicative of an operating state of a clutch. The correction circuit selectively uses a first correction value and a second correction value in accordance with the operating state of the clutch. The first correction value is set to correct deviation of the steering torque relative to its zero point when an exciting coil of the clutch is not energized. The second correction value is set to correct deviation of the steering torque relative to its zero point, caused by magnetic flux generated by energization of the exciting coil of the clutch. Adding the first correction value or the second correction value to the steering torque in accordance with the operating state of the clutch suitably corrects deviation of the steering torque relative to its zero point in accordance with the operating state of the clutch.

Abstract: A control apparatus calculates an axial force deviation, which is a difference between an ideal axial force and an estimated axial force. The ideal axial force is based on a target pinion angle of a pinion shaft configured to rotate in association with a turning operation of steered wheels. The estimated axial force is based on a state variable (such as a current value of a steering operation motor) that reflects vehicle behavior or a road condition. The control apparatus changes a command value for a reaction motor in response to the axial force deviation. For example, the control apparatus includes a basic control circuit configured to calculate a basic control amount, which is a fundamental component of the command value. The basic control circuit changes the basic control amount in response to the axial force deviation. The command value based on the basic control amount reflects the road condition.

Abstract: A control apparatus calculates an axial force deviation, which is a difference between an estimated axial force and an ideal axial force based on a target pinion angle of a pinion shaft in association with a turning operation of steered wheels. The estimated axial force is based on a state variable that reflects vehicle behavior or a road condition. The control apparatus includes a steering angle ratio change control circuit configured to calculate a target pinion angle serving as a basis for calculation of the command value. The steering angle ratio change control circuit calculates a speed increasing ratio from a steering angle ratio set based on a vehicle speed and a base gear ratio of a steering mechanism, and calculates a correction angle for a target steering angle by multiplying the speed increasing ratio and the target steering angle together.

Abstract: An estimated axial force computation circuit of a control device has an axial force computation circuit that computes an axial force that acts on a steered shaft on the basis of a current value of a steering motor. The estimated axial force computation circuit has a friction compensation circuit, an efficiency compensation circuit, and a gradient compensation circuit as static characteristic computation circuits that compensate for an effect of the static characteristics of a steering mechanism on the axial force computed. The estimated axial force computation circuit has a filter as a dynamic characteristic computation circuit that compensates for an effect of the dynamic characteristics of the steering mechanism. The filter removes, from the axial force, an effect of the viscosity and the inertia of the steering motor. The axial force after compensation is used to control a reaction force motor.

Abstract: A steering control device restrains not only a steered angle but also a steering angle from exceeding their upper limit values. A maximum value selection circuit selects a maximum value of a target steered angle and a target steering angle as an end angle and outputs the end angle to a limiting reaction force setting circuit. The limiting reaction force setting circuit increases a limiting reaction force rapidly if the end angle becomes equal to or larger than a common threshold. A target steering angle setting circuit sets a target steering angle based on torque applied to the steering minus the limiting reaction force etc. A steering angle control circuit sets reaction torque as a manipulated variable for feedback controlling the steering angle to the target steering angle. An operation signal generation circuit outputs an operation signal to a reaction force motor so as to achieve the reaction torque.

Abstract: A steering control apparatus is provided which suppresses possible vibration of a steering system resulting from differential steering processing when a steering angle or a steered angle has a large value. A differential steering processing circuit calculates a differential steering correction amount based on a difference value of a target steering angle, and increases or reduces the target steering angle using the calculated amount to obtain a target steered angle. A limiting reaction force setting processing circuit increases a limiting reaction force when a maximum value of the target steering angle and the target steered angle is equal to or larger than a common threshold. When the maximum value approaches the common threshold, an angle-sensitive gain setting processing circuit reduces an angle-sensitive gain so as to correct and reduce the differential steering correction amount.

Abstract: A steering control apparatus includes a steering angle feedback processing unit and an operation signal generation processing unit that operate a reaction force actuator to adjust a steering angle to a target steering angle that is a target value for the steering angle based on feedback control, an ideal-axial-force calculation unit that calculates an ideal axial force, a road-surface-axial-force calculation unit that calculates a road surface axial force, an axial-force allocation calculation unit that calculates a base reaction force in which the ideal axial force and the road surface axial force are allocated in a predetermined ratio, and a target steering angle calculation processing unit that sets a target steering angle based on the base reaction force. The steering angle feedback processing unit feeds back the target steering angle in which road surface information is incorporated through the road surface axial force, so that the steering angle is controlled.

Abstract: An update amount calculation processing circuit manipulates a control angle based on an update amount in order to perform feedback-control for causing a steering torque to be adjusted to a target torque. In this case, the update amount calculation processing circuit executes a guard process on the update amount with reference to an estimated amount of change that is a speed equivalent value based on estimation by an induced voltage observer. However, when a command current set by a command current setting processing circuit is zero, the update amount calculation processing circuit determines the estimated amount of change subjected to the guard process to be the update amount. When the command current is zero and the update amount is fixed to a guard value, an electric path between the synchronous motor and a battery is blocked.