Abstract: A cleaning device for a surface, such as a windshield of a vehicle, has a housing that holds a spray bar, rotatable brush and a wiper blade. An engagement mechanism moves spray bar, the brush, and the wiper blade out from a disengaged position within the housing to an engaged position outside the housing so that they can be used to clean, brush, and dry the surface. After the spray bar, brush, and wiper blade are used to, respectively, clean, brush, and dry the surface, the engagement mechanism then moves the spray bar, the brush, and the wiper blade to a disengaged position within the housing.

Abstract: Casing (20?) for a windscreen wiper drive rod, in particular of a motor vehicle, said casing being configured to cover at least a portion of said drive rod and comprising means for fixing to said drive rod and/or to at least one element (42) linked to said drive rod, characterised in that it further comprises support and guiding means (70) which are configured to cooperate with at least one electric cable (63) and/or at least one fluid line (64) of said windscreen wiper.

Abstract: The invention relates to a wiper device (100) for vehicle windows, with a wiper arm (10) and with a wiper blade (1), which is fastened pivotably on the wiper arm (10) by means of a fastening arrangement (2), and with a cleaning arrangement (40), which has at least one spray nozzle (42, 43) for a cleaning fluid, whereby the cleaning arrangement (40) is arranged at least partially within the wiper arm (10). It is provided according to the invention that the fastening arrangement (2) of the wiper blade (1) is arranged at least partially within the cleaning arrangement (40), and that the cleaning arrangement (40) has at least one recess (118, 119) for the at least partial receiving of a part (116) of the fastening arrangement (2) which is movable in relation to the cleaning arrangement (40) on pivoting.

Abstract: The invention relates to a cleaning arrangement (40; 40a-40d) for cleaning a vehicle window, with a wiper arm (10; 10a-10d) and with at least one hose (31, 32), fastened to the wiper arm (10; 10a-10d), for a cleaning fluid. It is provided according to the invention that the hose (31, 32) is connected by a form-fitting fastening, secure with regard to rotation angle, at least indirectly to the wiper arm (10; 10a-10d).

Abstract: A method for operating a motor vehicle includes carrying out an automated driving process that includes using a first braking device to decelerate the motor vehicle in an automated manner. The method further includes recording at least one operating parameter of the motor vehicle during the automated driving process, and carrying out a check in order to determine whether the at least one operating parameter satisfies a predetermined test criterion. The method also includes decelerating the motor vehicle in an automated manner using a second braking device if the at least one operating parameter does not satisfy the test criterion.

Abstract: As system for vehicle braking includes: a pedal actuated valve, including a first vent outlet in fluid communication with a fluid sink, a first supply inlet in fluid communication with a fluid source, and a first delivery outlet in fluid communication with a load; an electronically controlled valve in parallel with the pedal actuated valve, including a second vent outlet connected to the fluid sink via the first vent outlet, a second supply inlet in fluid communication with the fluid source, and a second delivery outlet in fluid communication with the load; and, a check valve connected between the load and the first delivery outlet downstream of the second vent outlet. A method for vehicle braking includes: operating at least one of the pedal actuated valve and the electronically controlled valve.

Abstract: A method for controlling a vehicle deceleration depending on a differential slip between two vehicle axles in a vehicle with an ABS brake system includes detecting at least one of a target vehicle deceleration specified by the driver and an actual vehicle deceleration; and controlling a braking pressure on wheel brakes of a vehicle axle to be controlled by actuation of ABS brake valves in such a way that the braking pressure on the wheel brakes of the vehicle axle to be controlled is controlled depending on a detected actual differential slip, so that the actual differential slip corresponds to a target differential slip. The actual differential slip indicates a difference in a rotational behavior of the vehicle axle to be controlled relative to a further vehicle axle. The target differential slip is dependent on at least one of the detected actual vehicle deceleration and the detected target vehicle deceleration.

Abstract: In the case of this brake control device, for example, a drive control unit is capable of executing, in a switching manner, drive control of a motor based on an operation amount and drive control of the motor based on a stored value in a storage unit. The drive control unit continues the drive control of the motor based on the operation amount until the operation amount reaches a state satisfying a predetermined convergence condition while the drive control of the motor based on the operation amount is being executed. The storage unit stores a parameter value, which is obtained in the state in which the operation amount satisfies the predetermined convergence condition, into the storage unit as the stored value.

Abstract: The assembly comprises a body wherein there are defined a chamber, a supply valve adapted to connect the chamber to a pressure source or to the atmosphere, and a vent valve adapted to allow or prevent the connection of the chamber to the atmosphere. The valves are provided with control solenoids to which respective electronic switches are coupled. The assembly also comprises electronic control devices adapted to provide, as a function of the values of at least one input signal, logic control signals to the electronic switches so as to control, through the valves, the value of the pressure in the chamber. The control means comprise two processing and control devices independent of one another, both receiving the input signal and designed to execute strategies for controlling the pressure in the chamber, equivalent to one another.

Abstract: System and method for removing copper species from a hydraulic fluid are described. The system includes a filter including a thiol resin. The filter is configured to be in fluid communication with the hydraulic fluid of the hydraulic system.

Abstract: The vehicle includes a powertrain having an axle having a first drive wheel and a second drive wheel. A first gearbox may couple a first power source to the first drive wheel, and a second gearbox may independently couple a second power source to the second drive wheel. And, a controller may be configured to initiate a gear shift in the first gearbox and the second gearbox at different times.

Abstract: The present invention relates to a vehicle recovery system (1) for a vehicle having at least one driven wheel. The vehicle recovery system (1) is operable to self-recover the vehicle from terrain having a deformable surface affording insufficient traction at the at least one driven wheel to mobilise the vehicle. A recovery controller (2) is provided to maintain at least substantially continuous rotation of said at least one driven wheel at a target recovery speed or within a target recovery speed range to increase the available traction at each driven wheel. The present invention also relates to a vehicle having a vehicle recovery system (1).

Abstract: A method for controlling a mild hybrid vehicle is disclosed. The method includes determining, by a controller, whether a state of charge (SOC) of a first battery that supplies electric power to a starter-generator exceeds a reference value. The method further includes operating, by the controller, the starter-generator and a starter that is separate from the starter-generator and receives electric power from a second battery at a voltage lower than that of the first battery. A combustion engine of the mild hybrid vehicle is started using the starter-generator and the starter when it is determined that the state of charge of the first battery exceeds the reference value and it is determined that an ambient air temperature of the engine exceeds a temperature reference value.

Abstract: A vehicle control device that includes a search unit that searches, based on geographic information to be supplied from a navigation device, for a deceleration start position before a downhill that is suited to regeneration by a motor; and a charge level control unit that performs, when a vehicle reaches the deceleration start position, deceleration control for reducing a charge level of a battery by reducing a vehicle speed. When the charge level control unit performs the deceleration control, the vehicle speed is reduced by reducing a driving force of the vehicle to a level at which only motor output is used as the driving force.

Abstract: A method for tractive force interruption-free shifting of a hybrid drive comprising combustion engine (21), electric engine (2), main gear (HG) comprising two parallel connected partial gears, output shaft (3), and first and second planetary gears (PG1, PG2). Each partial gear having either first hollow gear input shaft (4) or second solid gear input shaft (5). The first planetary gear (PG1) is connected to the main gear (HG) as the range group, with main gear (HG) comprising at least five gear planes (R1-R5) and at least four shifting elements (S1-S4). The electric engine (2) is connected to carrier (ST1) of the range group (PG1) and the output shaft (3) so that the electric engine (2) supports tractive force while the range group (PG1) is shifted, and the fifth gear plane (R5) is connected to carrier (ST1) of range group (PG1) and thus can be shifted under load.

Abstract: A control apparatus for a hybrid construction machine includes an engine, a motor generator driven by the engine and capable of generating electric power, a hydraulic pump driven by total torque of the engine and the motor generator, a power storage device, an inverter, a filter that collects a particulate material in exhaust gas of the engine, and a control section outputting a command signal for controlling powering operation or regeneration operation of the motor generator. The control apparatus further includes a powering operation limitation section that inputs thereto an ordinary torque command calculated by a torque command value calculation section and a demand signal for regeneration of the filter decided by a filter regeneration decision section and calculates the command signal in response to the input signals. When a filter regeneration demand signal is available, a command signal for limiting the powering operation of the motor generator is calculated.

Abstract: A hybrid electric vehicle system comprises an internal combustion (IC) engine and an electric engine providing power to a drive shaft of the vehicle. The IC engine receives a fuel from a fuel tank. Exhaust gases from the IC engine are treated at an exhaust treatment apparatus including a reagent tank containing a reagent. A controller monitors a quality of the fuel in the fuel tank and the reagent in the reagent tank and if needed, initiates fuel degradation reduction event or a reagent degradation reduction event. These events can include running the IC engine even if a battery supplying power to the motor is not discharged. The fuel degradation reduction event includes dosing the fuel tank with an antioxidant to reduce the rate of degradation of the fuel.

Abstract: A modular rear drive unit for a hybrid vehicle comprises a torque distributing unit, an electric motor-generator, and a gearing arrangement operatively connecting the electric motor-generator with the torque distributing unit. The modular rear drive unit also includes an integrated housing and rear cradle supporting and surrounding the torque distributing unit, the electric motor-generator, and the gearing arrangement. The integrated housing and rear cradle operatively mounts to the vehicle body.

Abstract: A method includes determining, by an electronic control unit, at least one characteristic of cargo that is transported by an autonomous vehicle or a semi-autonomous vehicle. The method also includes determining a driving adaptation based at least on the at least one characteristic. The driving adaptation is selected from the group including a routing adaptation, a driving style adaptation, and an internal control adaptation. The method also includes configuring the vehicle to transport the cargo based at least on the determined driving adaptation.

Abstract: A road vehicle convoy control method includes applying, on a hinge, a moment, an amplitude of which varies based on measured oscillations to absorb the measured oscillations. The moment is applied on the hinge by controlling an actuator of the hinge and jointly controlling: an electrical machine of a first wheel from a wheel set that belongs to part of a chassis that pivot in relation to another wheel because of the hinge to increase torque of the first wheel; and, simultaneously, an electrical machine of a second wheel from the same wheel set to keep the torque thereof constant or increase the torque of the second wheel less than the torque of the first wheel to apply the moment on the hinge in combination with the actuator.

Abstract: A vehicle front-wheel turning control apparatus includes a drive force transmission path, a braking force controller, a detector, and a front-wheel turning controller. The detector detects one of occurred contact of the vehicle with respect to a forward object at an occurred contact position and unavoidable contact thereof at an unavoidable contact position. The front-wheel turning controller turns one, of the left and right front wheels, to which the drive force is transmitted, by causing the braking force controller to apply the braking force to the one of the left and right front wheels, on a basis of a state of the drive force transmitted to each of the left and right front wheels and one of the occurred and unavoidable contact positions, when the one of the occurred contact and the unavoidable contact is detected by the detector.

Abstract: When no diagnostic signal is detected, an activation determination operation unit 15B determines whether to activate a controlled object 16 based on the result of calculation (FSN information) by an FSN computation unit 14 and the vehicle state of the own vehicle input by a vehicle state input unit 13. An activation determination diagnosis unit 15C determines whether the activation determination operation unit 15B has properly performed an activation determination. When it is determined that the activation determination operation unit 15B has properly performed the activation determination, the control of the controlled object 16 based on the activation determination is permitted. When it is determined that the activation determination operation unit 15B has not properly performed the activation determination, the control of the controlled object 16 based on the activation determination is not permitted.

Abstract: Driver assistance system and method of assisting a driver when operating a vehicle in a transportation route network. The system includes a first interface to provide navigation data relating to the network, a position detection unit to provide a position of the vehicle, a second interface to provide first data relating to first objects, arranged along transportation routes of the network, a sensor system to sense current surroundings of the vehicle at the position in order to generate surroundings data, a first evaluation unit to determine second data relating to second objects based on the surroundings data, a fusion unit to match and fuse the first data and the second data to form third data, and a control unit to execute at least one assistance function in order to assist operation of the vehicle, wherein the assistance function is executed depending on the third data and the navigation data.

Abstract: A driving assistance apparatus is mounted in an own vehicle and performs driving assistance for the own vehicle. The driving assistance apparatus determines a travel recommended lane in which the own vehicle is to travel, based on a comparison of a preset vehicle speed set in advance to allow the own vehicle to travel at a constant speed, to a travel state of a preceding vehicle traveling ahead of the own vehicle in a travel lane in which the own vehicle is traveling and a travel state of an adjacent vehicle traveling ahead of the own vehicle in an adjacent lane that is adjacent to the travel lane. The driving assistance apparatus performs output based on the travel recommended lane.

Abstract: A forward rear drive axle of a vehicle having at least two rear drive axles has a multiple ratio gearbox and a power divider or inter-axle differential that can be connected to or disconnected from the rearward rear drive axle, so that the vehicle can be operated in 6×4 mode or in 6×2 mode. A control system is connected to the transmission and to the multiple ratio gearbox, and is configured to shift the gearbox sequentially through its ratios when the transmission is within a subset of its gear ratios chosen to maximize use of transmission gears exhibiting higher gear train efficiency. The control system is further configured to control the use of 6×4 mode or 6×2 mode independently from the shifting of the multiple ratio gearbox.

Abstract: A drive torque control device of a vehicle that includes a drive source for generating a drive source torque, a brake mechanism for generating a braking torque, and a drive wheel for driving the vehicle. The drive torque control device includes a target drive wheel torque calculator configured to calculate a target drive wheel torque, a drive source torque control unit configured to estimate a drive source torque limit value, calculate a target drive source torque based on the target drive wheel torque and the drive source torque limit value, and control the generation of the drive source torque by the drive source based on the target drive source torque, and a braking torque control unit configured to calculate a target braking torque based on the target drive wheel torque and the target drive source torque, and control the generation of the braking torque by the brake mechanism based on the target braking torque.

Abstract: An autonomous driving system mounted on a vehicle, includes: an information acquisition device configured to acquire driver operation information indicating an operation by a driver of the vehicle; and an autonomous driving control device configured to perform autonomous driving control of the vehicle. The autonomous driving control device performs: default lane setting processing that sets a default lane in which the vehicle travels; and vehicle travel control processing that controls the vehicle to travel in the default lane when there is no departure reason for departing from the default lane and to travel away from the default lane until there is no departure reason when there is the departure reason. In the default lane setting processing, the autonomous driving control device refers to the driver operation information to set the default lane according to the driver's intention.

Abstract: A control apparatus for a vehicle that includes an engine includes an electric generator, a lock up clutch, a throttle valve, an electric generator control unit, a clutch control unit, and a throttle control unit. The clutch control unit is configured to control the lock up clutch to an engaged state on the condition that the electric generator performs the regenerative power-generation. The throttle control unit is configured to control the throttle valve openwise on the condition that the electric generator performs the regenerative power-generation. The throttle control unit is configured to control the throttle valve from openwise to closewise on the condition that the lock up clutch is controlled from the engaged state to a disengaged state, with the throttle valve having been controlled openwise in accompaniment with the regenerative power-generation of the electric generator.

Abstract: A control apparatus for a vehicle provided with (a) a transmission and (b) a shifting device including (b-1) a shift actuator and (b-2) a shift lever. The shift actuator establishes one of shift ranges in the transmission such that the established one of the shift ranges corresponds to a selected one of shift-lever operating positions of the shift lever. When a switching request is made to request the transmission to be switched to an opposite-direction drive range that is for driving the vehicle in a direction opposite to a current running direction of the vehicle, during running of the vehicle with a speed being not lower than a given value, the control apparatus rejects the switching request. The control apparatus rejects the switching request, also during running of the vehicle with the running speed being lower than the given value, if the vehicle is running on a downhill road.

Abstract: Road geometries may be determined from sparse data by identifying a set of mobile device data points generated by a mobile device located in a geographic area. Further, the data points may be connected with a curve comprising a series of splines defined by curve functions. The shape of the splines may be optimized by applying a scaling factor to the curve functions. A resulting optimized curve may be representative of a road in a geographic area.

Abstract: A course estimator has a first estimating means, a second estimating means and a determining means. The first estimating means obtains first information and estimating a first radius of a first forward traveling path on the basis of the obtained first information, the first forward traveling path being a part of a forward traveling path to which a vehicle is going to travel. The second estimating means obtains second information and estimating a second radius of a second forward traveling path on the basis of the obtained second information, the second forward traveling path being a part of the forward traveling path to which a vehicle is going to travel, the second forward traveling path being farther from the vehicle than the first traveling being.

Abstract: An information presenting device is mounted in an autonomous vehicle in which an action candidate for the vehicle to take is settable based on selection from presented selection information made by an occupant. The information presenting device sets the action candidate for the autonomous vehicle to take, calculates a selection margin time from a current time point to a time point at which the occupant should complete the selection from the selection information, sets the selection information based on the action candidate depending on the selection margin time, and presents the set selection information to the occupant.

Abstract: Cableway installation (10), comprising at least a housing (11) suitable to carry passengers and equipped with a safety device (12) which is movable between an access configuration and a safety configuration. The installation (10) comprises: radiation emitting means (13); reflecting means (14), adapted to reflect said radiation; receiving means (15), adapted to receive a reflection of said radiation emitted by said reflecting means (14). The emitting means (13), the reflecting means (14) and the receiving means (15) are arranged in such a way that, in at least a predefined operating condition, the emitting means (13) are facing the reflecting means (14), to irradiate them, and the reflecting means (14) are facing the receiving means (15) to reflect the radiation towards them. The reflecting means (14) are fixed to the safety device (12) so as to reflect the radiation differently depending on whether the safety device (12) is in the access configuration or in the safety configuration.

Abstract: A vacuum transport tube vehicle, system, and method for evacuating a vacuum transport tube are provided. The vehicle has a first end having a first end outer surface. An annular gap is formed between the first end outer surface and an inner surface of the vacuum transport tube. The vehicle has a second end having a second end outer diameter, and a body in the form of a piston with a structural framework. The vehicle has an orifice extending from a first inlet portion in the first end to a second outlet portion of the vehicle. The vehicle has a drive assembly coupled to the body, and a power system. The vehicle evacuates the vacuum transport tube by reducing pressure within the tube with each successive vehicle pass through the tube, until a desired pressure is obtained and a vacuum is created in the interior of the tube.

Abstract: A tank car heating device is provided, which comprises a heat exchanger configured to insert through an entry point, e.g., a manway, of a tank car in communication with a heat source.

Abstract: According to a railcar, a fuse member that couples a first end beam to a second end beam along a car longitudinal direction is formed as a channel material with an approximately U-shaped cross-section, including a web disposed to extend along the car longitudinal direction and a pair of flanges disposed upright from both end portions of this web. Accordingly, when a load received in collision exceeds a predetermined value, the fuse member buckles to allow the first end beam to move toward the second end beam to ensure reducing variation of the load that allows the first end beam to move toward the second end beam. Consequently, when the intended load is input, the first end beam is allowed to move toward the second end beam.

Abstract: An air spring according to the present disclosure includes: an inner cylindrical member; an outer cylindrical member provided on the inner cylindrical member; a diaphragm coupled with the outer cylindrical member and the inner cylindrical member; and a stopper provided rotatably with respect to a circumferential direction of the inner cylindrical member. The stopper has a raised portion raised towards the outer cylindrical member and moving on the inner cylindrical member in the circumferential direction. The outer cylindrical member has a plurality of raised portions raised toward the inner cylindrical member. The plurality of raised portions of the outer cylindrical member are different in height. At least one of the outer cylindrical member's raised portion and the stopper's raised portion is restorable against circumferential deformation.

Abstract: In a method for stabilizing a rail vehicle with a wheel set, the speed of the rail vehicle is changed when a critical vibration state of the wheel set occurs. An advantageous state can be achieved if the speed of the rail vehicle is changed by using a vibration state variable of the wheel set.

Abstract: A Fit-For-Duty network system and method that integrates several drowsiness detection devices with software analytics engine to more accurately predict, monitor and/or detect an actual unfit-for-duty condition or “positive event” in real time. The system monitors behavior based on changing operational conditions (such as speed of vehicle and pre-defined conditions, such as time of day and geographic conditions) to dynamically estimate both seriousness and probability of a positive event. Moreover, based on estimated seriousness and probability of a positive event the system self-initiates different levels of alerts ranging from light and sound, to connection to a third party intervener (an operations center), to stopping the vehicle.

Abstract: A cart may include a door forming a bed of the cart and a pair of wheel attachment assemblies. Each wheel attachment assembly may include (a) a fender having a planar expanse configured to abut a lower major face of the door, (b) a clamping member coupled to the fender, the clamping member configured to be coupled to an upper major face of the door and abut an edge face of the door, and (c) a wheel fork coupled to the fender and configured to be coupled to an axle of a wheel. The cart may include a handle clamp configured to be coupled to an edge portion of the planar member and a handle configured to be coupled to the handle clamp.

Abstract: A trolley comprising a plurality of rectangular and elongated shelves comprising a plate providing a surface for carrying goods, such as potted plants and flowers, and hooks, and a plurality of posts provided with a series of openings, such as slots, receiving the hooks. The hooks extend in lateral direction and a series of openings is provided in precisely one side of the posts or in precisely two and opposite sides of the posts.

Abstract: A front fork assembly of a snow bike is disclosed having left and right legs, each having an upper leg portion and a lower leg portion. The left leg upper and lower leg portions are linearly movable relative to each other. A right leg has an upper leg portion and a lower leg portion, the right leg upper and lower leg portions are linearly movable relative to each other. A ski mount has a lower end for coupling to a ski and an upper end for coupling to the left and right leg. A linear force element is coupled to the left and right legs with a first end adjacent the first ends of the forks and seconds ends coupled to the ski, the linear force element has a different linear force characteristic than the left and right legs.

Abstract: A lever assembly includes a lever that extends between a first lever end and a second lever end and a lever member. The lever member has a lever member first portion connected to the second lever end and a lever member second portion extending from the lever member first portion. The lever member second portion has an intermediate portion defining a predefined plastically deformable stress point that is arranged to facilitate movement of the lever member second portion relative to the lever member first portion.

Abstract: An intermediate steering shaft for a motor vehicle includes an outer hollow shaft, an inner hollow shaft that is arranged at least partially in the outer hollow shaft, and a profile shaft that is arranged in the outer hollow shaft and connects the outer hollow shaft and the inner hollow shaft to one another. The intermediate steering shaft also includes a plurality of guide arrangements that guide the profile shaft in the outer hollow shaft for displacing the profile shaft and the inner hollow shaft. An elastic element is arranged between a respective guide rail and a receiving section of the profile shaft. The elastic element is configured to provide play compensation for the respective guide arrangement and to transmit a torque that acts from the outer hollow shaft on the guide arrangement to the profile shaft.

Abstract: A rotary electric device control device for controlling driving of a rotary electric device including a plurality of winding sets, includes: a plurality of drive circuits; and a plurality of control units that include signal output units for outputting control signals to the drive circuits corresponding to the control units, respectively. The one of the control units generates a control signal according to a command value calculated by each system, a host system detection value relating to a detection value of a host system, and another system detection value relating to another detection value of another system. An electric power steering device includes: the rotary electric device control device; the rotary electric device that outputs an assist torque for assisting a steering operation of a steering wheel by a driver; and a power transmission unit that transmits a driving force of the rotary electric device to a drive target.

Abstract: A current command value calculation circuit includes an end abutment determination circuit and a guard processing circuit. When a decrease amount of an induced voltage value within a predetermined time is equal to or larger than a predetermined decrease amount in the state that a steering torque is equal to or larger than a predetermined torque, the end abutment determination circuit determines that the end abutment occurs. When a determination signal indicating that the end abutment state does not occur is input, the guard processing circuit outputs an elemental current command value directly as a q-axis current command value. When a determination signal indicating that the end abutment state occurs is input, the guard processing circuit outputs, as the q-axis current command value, a value obtained by limiting the elemental current command value so that its absolute value is equal to or lower than a predetermined limit current value.

Abstract: An embodiment of a system of a vehicle includes a power steering system that operates as commanded by control commands, and a control module configured to receive a first control command. The control module is also configured to generate a range signal indicative of a range of command values based on a plurality of input signals, generate a second control command based on a subset of the plurality of input signals, determine whether the first control command is out of the range for longer than a predetermined duration of time, and send the second control command to the power steering system in response to determining the first control command is out of the range for longer than the predetermined duration of time.

Abstract: A computer in a vehicle is programmed to instruct a steering system of the vehicle to perform a lateral steering action depending on whether a steering-wheel angle is greater than a threshold angle, and to determine and apply an amount of torque to a steering wheel based on comparing the steering-wheel angle to the threshold angle.

Abstract: Technical solutions are described for estimating handwheel angle of a steering wheel of a vehicle based on road wheel rotational speed data. In one or more examples, the technical solutions are used when the vehicle does not have a sensor to measure the handwheel angle, or if the handwheel angle sensor is faulted and unable to provide data on the actual handwheel angle.

Abstract: According to a lane keep assist electronic control unit (LKAECU), a lane recognition section recognizes a driving lane in which the own vehicle is traveling. A target trajectory generation section generates a target trajectory in which the own vehicle travels so that deviation of the own vehicle from the driving lane is suppressed. A feedforward steering angle calculation section, a feedback steering angle calculation section, a first adder, a feedforward torque calculation section, and a feedback torque calculation section calculate a demanded torque ?tgt for controlling steering of the own vehicle so that the own vehicle travels along the target trajectory.