Abstract: A driving assistance control device outputs a driving assistance command value to a steering control device as information indicating a target course that is generated on the basis of the detection result of a vehicle-mounted sensor. The driving assistance command value is output as a torque component or an angle component depending on the design of the driving assistance control device. In response, processing in which a driving assistance command value input from the exterior of the steering control device is used as input for angle control processing or input for torque control processing within an assist command value calculation unit is performed by a microcomputer as assistance command value input processing by an assistance command value input processing unit.

Abstract: A driving assistance control device outputs a driving assistance command value to a steering control device as information indicating a target course that is generated on the basis of the detection result of a vehicle-mounted sensor. The driving assistance command value is output as a torque component or an angle component depending on the design of the driving assistance control device. In response, processing in which a driving assistance command value input from the exterior of the steering control device is used as input for angle control processing or input for torque control processing within an assist command value calculation unit is performed by a microcomputer as assistance command value input processing by an assistance command value input processing unit.

Abstract: A steering controller includes processing circuitry. The processing circuitry is configured to execute an operation process that operates a drive circuit of an electric motor using an operation signal to control torque of the electric motor based on a steering torque input by a driver and a correction process that corrects a calculation parameter that occurs during calculation of the operation signal based on a driving support command value input from outside of the processing circuitry. The driving support command value is used to support driving by the driver. The correction process includes a conversion process that converts a dimension of the driving support command value to a dimension of the calculation parameter, and a process that corrects the calculation parameter using the driving support command value of which the dimension has been converted.

Abstract: A steering controller includes processing circuitry configured to execute a first operation process that, when an angle command value is not input from outside of the processing circuitry, calculates a first torque command value corresponding to a steering-side operation amount and operating a drive circuit of an electric motor to adjust torque of the electric motor to the first torque command value. The processing circuitry is further configured to execute a second operation process that, when the angle command value is input from the outside of the processing circuitry, calculates a second torque command value corresponding to at least an angle-side operation amount of the steering-side operation amount and the angle-side operation amount and operating the drive circuit of the electric motor to adjust the torque of the electric motor to the second torque command value.

Abstract: A steering controller includes processing circuitry configured to execute a torque control process that calculates a steering-side operation amount, an angle feedback control process that calculates an angle-side operation amount, and an operation process that operates a drive circuit of an electric motor to adjust torque of the electric motor to a torque command value. The processing circuitry is further configured to execute a switch process that switches, when determining that a controllability of the electric motor is less than or equal to a predetermined efficiency, the torque command value from a value based on the angle-side operation amount to a value based on the steering-side operation amount instead of the angle-side operation amount.

Abstract: A steering controller includes processing circuitry. The processing circuitry is configured to execute an operation process for calculating a torque command value corresponding to a sum of an amount by which the steering-side operation amount is converted into the torque required for the electric motor and an amount by which the steerable wheel-side operation amount is converted into the torque required for the electric motor and operate a drive circuit of the electric motor to adjust the torque of the electric motor to the torque command value.

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 ECU includes a deviation calculating circuit an assist control circuit, an automatic steering control circuit including an intervention determination switching circuit, an adder, a current command value calculating circuit The intervention determination switching circuit includes a count amount calculating circuit, an adder, an immediately-preceding count amount output circuit, a switching determination circuit, and an output switching circuit. The count amount calculating circuit calculates a count amount having a positive value or a negative value based on a steering torque absolute value calculated by an absolute value switching circuit. The adder calculates a total count amount that is the total sum of a presently calculated count amount and an immediately-preceding count amount calculated in an immediately-preceding calculation cycle.

Abstract: A steered-angle command value calculation circuit calculates a steered-angle command value by adding a steering torque to a first assist component that is a sum of a basic assist control amount, a hysteresis control amount and a damping control amount. A steered-angle feedback control circuit calculates a second assist component by angle feedback control based on the steered-angle command value. A compensation control circuit generates the hysteresis control amount and the damping control amount based on a determination flag generated by a hand release determination circuit and indicating whether or not the steering state corresponds to a hand release state. The hand release determination circuit determines whether or not the steering state corresponds to the hand release state based on signs of a steering angle calculated by a steering-angle calculation circuit, a steering angular velocity that is a differential value of the steering angle, and a steering angle acceleration.

Abstract: Provided is an electric power steering system that achieves a more appropriate steering feel. An ECU of the electric power steering system calculates a basic assist component and a target pinion angle based on at least steering torque. The ECU calculates a correction component for the basic assist component through feedback control in which an actual pinion angle is caused to match the target pinion angle. The ECU calculates an assist command value by adding the correction component to the basic assist component. The ECU corrects a hysteresis controlled variable and a viscosity component according to the rate of change (gradient) in a spring component with respect to a change in absolute value of the target pinion angle. Specifically, the ECU multiplies the hysteresis controlled variable and the viscosity component by gains that have a larger value as the rate of change in spring component increases.

Abstract: An ECU includes a deviation calculating circuit an assist control circuit, an automatic steering control circuit including an intervention determination switching circuit, an adder, a current command value calculating circuit The intervention determination switching circuit includes a count amount calculating circuit, an adder, an immediately-preceding count amount output circuit, a switching determination circuit, and an output switching circuit. The count amount calculating circuit calculates a count amount having a positive value or a negative value based on a steering torque absolute value calculated by an absolute value switching circuit. The adder calculates a total count amount that is the total sum of a presently calculated count amount and an immediately-preceding count amount calculated in an immediately-preceding calculation cycle.

Abstract: A steering control device capable of transmitting road surface state to a driver is provided. An ideal vehicle model computes first spring reaction force torque based on a target pinion angle and second spring reaction force torque based on at least lateral acceleration as components of a spring component of a steering assist force. The ideal vehicle model combines the first and second spring reaction force torques with specified proportions of use to compute the spring component. The ideal vehicle model decides the proportions of use of the first and second spring reaction force torques on the basis of a distribution gain set in accordance with the difference value between the first and second spring reaction force torques. The ideal vehicle model increases the proportion of use of the second spring reaction force torque as the difference value between the first and second spring reaction force torques is increased.

Abstract: Restriction values (upper limit and lower limit) for an assist control amount are set individually for each of state amounts including steering torque ? used to compute the assist control amount. A value obtained by summing such restriction values is set as a final restriction value for the assist control amount. Even though the assist control amount with an abnormal value is computed, the assist control amount is restricted to an appropriate value by the final restriction value. In addition, a transition is made from a primary assist control amount which is restricted to a secondary assist control amount computed separately from the primary assist control amount at the timing when a certain time elapses since the assist control amount is restricted. As the steering torque ? is increased, the speed of transition from the primary assist control amount to the secondary assist control amount is increased.

Abstract: A steering control device capable of transmitting road surface state to a driver is provided. An ideal vehicle model computes first spring reaction force torque based on a target pinion angle and second spring reaction force torque based on at least lateral acceleration as components of a spring component of a steering assist force. The ideal vehicle model combines the first and second spring reaction force torques with specified proportions of use to compute the spring component. The ideal vehicle model decides the proportions of use of the first and second spring reaction force torques on the basis of a distribution gain set in accordance with the difference value between the first and second spring reaction force torques. The ideal vehicle model increases the proportion of use of the second spring reaction force torque as the difference value between the first and second spring reaction force torques is increased.

Abstract: A steered-angle command value calculation circuit calculates a steered-angle command value by adding a steering torque to a first assist component that is a sum of a basic assist control amount, a hysteresis control amount and a damping control amount. A steered-angle feedback control circuit calculates a second assist component by angle feedback control based on the steered-angle command value. A compensation control circuit generates the hysteresis control amount and the damping control amount based on a determination flag generated by a hand release determination circuit and indicating whether or not the steering state corresponds to a hand release state. The hand release determination circuit determines whether or not the steering state corresponds to the hand release state based on signs of a steering angle calculated by a steering-angle calculation circuit, a steering angular velocity that is a differential value of the steering angle, and a steering angle acceleration.

Abstract: An end determination unit determines that a steering apparatus is in an end touching state when an angle deviation, which is a difference between an actual turning angle and a target turning angle, exceeds a threshold. This angle deviation exceeds the threshold before a large axial force is generated in a steering shaft. Accordingly, is it possible to determine that the steering apparatus is in the end touching state more quickly.

Abstract: An electric power steering system includes a control unit configured to: compute an assist control amount (current amount), based on multiple kinds of state quantities indicating a steering state; control a motor based on the assist control amount, the motor being a source of assist force to be applied to a steering system of a vehicle; individually set, for the respective state quantities, limiting values that limit a variation range of the assist control amount, based on the respective state quantities used to compute the assist control amount; limit a value of the assist control amount using the limiting values; acquire a command value generated by a host control unit to change the assist control amount; and take the command value into account in setting of at least one of the limiting values, when executing control of the motor based on the assist control amount that reflects the command value.

Abstract: An electric power steering apparatus includes a control unit that calculates an assist controlled variable based on a plurality of types of state variables indicating steering statuses and controls a motor that serves as a generation source of an assist force applied to a steering mechanism of a vehicle based on the assist controlled variable. The control unit is configured to separately set limit values, which limit a change range of the assist controlled variable according to the respective state variables used to calculate the assist controlled variable, to the respective state variables, add up the limit values to generate ultimate limit value for the assist controlled variable, and perform limitation processing to limit the ultimate limit value for an assist controlled variable having a sign opposite to a sign of a steering torque that is one of the plurality of types of state variables.

Abstract: A control device in an electric power steering device calculates a first assist component based on steering torque and a vehicle speed. The control device also calculates a compensation component associated with an reverse input and calculates a steered angle command value based on an addition value of the compensation component and basic drive torque that is an addition value of the steering torque and the first assist component, produces a second assist component by performing steered angle feedback control that causes the steered angle of a vehicle to follow the steered angle command value. The control device controls drive of a motor based on an assist command value that is an addition value of the first assist component and the second assist component.

Abstract: A steering system includes a motor control apparatus that controls driving of a motor based on an assist command value. The motor control apparatus includes an angle command value calculating unit that calculates an angle command value based on an input value including a steering torque, and calculates an assist component through execution of angle feedback control allowing a turning angle of a vehicle to follow the angle command value. The motor control apparatus calculates the assist command value based on the assist component. The motor control apparatus also calculates a correction value based on a deviation between a yaw rate of the vehicle and a yaw rate command value. An input value for the angle command value calculating unit is corrected based on the correction value.