Abstract: A steering device for a vehicle includes: an operation member configured to be operated by a driver; a turning member mechanically separated from the operation member and configured to turn a wheel; a turning device configured to drive the turning member; and a controller configured to control the turning device, wherein the controller has: a first control mode in which a maximum turning angle of the wheel is set to a first angle corresponding to a maximum angle for mechanically turning the wheel; and a second control mode in which the maximum turning angle of the wheel is set to a second angle that is smaller than the first angle; and the controller is configured to switch between the first control mode and the second control mode based on a current travel condition of an own vehicle detected by a travel condition detecting unit.

Abstract: The present disclosure relates to a device and method for generating steering reaction torque. In providing a reaction torque to a steering wheel of a steer-by-wire steering system, the device may determine a target frequency according to the rotational speed of the wheel, generate a filtered rack force signal excluding a cutoff band including the target frequency from the rack force signal, generate a target reaction torque signal based on the filtered rack force signal, and generate the reaction torque based on the target reaction torque signal. Therefore, it is possible to improve the steering feeling of the SBW steering system by providing the steering wheel with reaction torque from which unnecessary vibration components such as shimmy and judder are removed.

Abstract: A method includes receiving rack force estimate data and receiving vehicle speed data that indicates a speed of a vehicle. The method also includes classifying the rack force estimate data into corresponding rack force estimate segments associated with frequency ranges and estimating, based on at least one rack force estimate segment and the vehicle speed data, a rack force value. The method also includes controlling vehicle steering based on at least the rack force value.

Abstract: The embodiments relates to a steering control device and method. Specifically, a steering control device according to the embodiments may include a first steering control module receiving a steering angle of a steering wheel from a steering angle sensor, calculating a position of a rack corresponding to the steering angle, and transmitting the position of the rack to a road wheel actuator (RWA) and a second steering control module to which a control right for the first steering control module is transferred when the first steering control module is determined to have a failure.

Abstract: A power supply device includes a driving control device and an auxiliary control device, the vehicle including a main power source, an auxiliary power source, and a supply path, the supply path being a path configured to be opened and closed according to a state of a start switch of the vehicle. The driving control device is a device that controls a state of equipment installed in the vehicle and the auxiliary control device is a device that controls a state of the auxiliary power source. The driving control device is configured to execute a storage process, a permission signal transmission process, and an initial value process, and the auxiliary control device is configured to execute a permission signal reception process and a stop process.

Abstract: In a control device to control a motor in an electric power steering apparatus including the motor, processor executes, according to a program calculation of a target assist torque by performing proportional integral (PI) control based on a target steering wheel angle and a steering angle, and control of the motor based on the target assist torque. A gain of an integrator used for integral (I) control of the PI control is variable.

Abstract: A steering angle diagnosis and correction apparatus and method in a steer-by-wire (SBW) steering system including a sensor unit configured to detect information for diagnosing a steering angle alignment error between a steer-side upper system and a wheel-side lower system in the SBW steering system through a plurality of sensors provided in the upper and lower systems, and a plurality of processors configured to execute one or more instructions to diagnose the steering angle alignment error between the steer-side upper system and wheel-side lower system on a basis of the information detected by the sensor unit and correct the steering angle alignment error in real time.

Abstract: A method for fine-tuning a variable-gear steering column according to a speed of the vehicle, the method includes: a step of characterizing a desired handling of the vehicle for a speed V1 and of characterizing a desired stability for a speed V2; a step of determining a value G1 of the gear ratio allowing obtaining the desired handling at the speed V1, and a value G2 of the gear ratio allowing obtaining the desired stability at the speed V2, a step of calculating a parameter p1 and a parameter p2 according to the speed V1, the speed V2, the value G1 and the value G2 so that the relationship between the gear ratio and the speed of the vehicle is defined by the equation G=p2+p1/V, when the speed is included between a first threshold and a second threshold.

Abstract: A parking support apparatus includes: a first parking space setting unit that sets a first parking space including information of a parking position and a parking angle of a vehicle at a parking completion position; a second parking space setting unit that calculates a second parking space, which is obtained by correcting the parking angle of the first parking space, based on information of measurement of the first parking space by using a vehicle surrounding sensor which measures a surrounding area of the vehicle; a parking space determination unit that calculates reliability of the second parking space and determines to use the first parking space or the second parking space based on the calculated reliability; and a parking route generation unit that generates a parking route to the first parking space or the second parking space determined by the parking space determination unit.

Abstract: A signal correction apparatus of an SBW system may include: a command signal receiving/transmitting unit configured to receive a command signal transmitted through a vehicle communication network by an upper level apparatus, and transmit a command signal, obtained by correcting the linearity of the received command signal, to a lower level apparatus through the vehicle communication network; a buffer unit configured to store the command signal, received through the command signal transmitting/receiving unit, as an original signal; and a control unit configured to generate a command signal whose linearity is corrected, by correcting the linearity of the original signal by using the original signal stored as the command signal in the buffer unit and a command signal obtained by delaying the command signal, stored in the buffer unit, by designated one unit time.

Abstract: An object of the present invention is to provide a steering control device and a steering control method that can reduce a driving burden imposed on a driver during low velocity driving. The present invention is provided with an arithmetic logic unit that changes a steering angle of a wheel 11 by driving a wheel steering actuator 7 based on a manipulated variable of a steering 3, and calculates a controlled variable of the wheel steering actuator 7. In turning the steering 3, the arithmetic logic unit controls the wheel steering actuator 7 based on a first gain at which a ratio of an actual steering angle of the wheel 11 changes with respect to a steering angle ?, and in returning the steering 3, the arithmetic logic unit controls the wheel steering actuator 7 based on a second gain that differs from the first gain.

Abstract: An electronic control unit includes a connector, a first board, and a second board. The first board includes an inner-layer conductor. The second board includes an inner-layer conductor and provided with a control circuit. A thickness of the inner-layer conductor of the first board is thicker than a thickness of the inner-layer conductor of the second board. The thickness of the inner-layer conductor of the first board is 1.7 to 2.3 times the thickness of the inner-layer conductor of the second board.

Abstract: A steering control device controls a turning motor that generates a turning force for causing turning wheels of which power transmission to and from a steering wheel is cut off to turn. The steering control device includes a first processor configured to change a steering angle ratio which is a ratio of a turning angle of the turning wheels to a steering angle of the steering wheel according to a vehicle speed through control of the turning motor and a second processor configured to change a degree of change of the steering angle ratio with respect to change of the vehicle speed according to a steering state or a vehicle state.

Abstract: According to embodiments of the present invention, when a driver applies steering torque greater than the reaction torque of a reaction motor to a steering shaft, the steering shaft is mechanically prevented from rotating any more, and thus the driver's steering feel can be improved.

Abstract: A method for steering correction in a mobile machine having at least one ground-engaging device including one or more tracks or one or more wheels includes detecting a steering request with an electronic control unit, the steering request being generated by an input device configured to control steering of the mobile machine. The method also includes determining that the steering request is a request to propel the mobile machine in a straight path and determining, during travel of the machine, an amount of deviation of the mobile machine from the straight path. The method further includes generating an adjusted steering command based on the amount of deviation from the straight path.

Abstract: A motor driving apparatus of driving a motor including a plurality of windings respectively corresponding to a plurality of phases is disclosed. The motor driving apparatus includes a first inverter including a plurality of first switching elements and connected to a first end of each of the windings, a second inverter including a plurality of second switching elements and connected to a second end of each of the windings, and a controller electrically connected to the first switching elements and the second switching elements and configured to generate limited pole voltage commands for space vector pulse width modulation based on preset voltage commands of the motor and to distribute the limited pole voltage commands to generate first pole voltage commands for switching of the first switching elements and second pole voltage commands for switching of the second switching elements.

Abstract: Methods and apparatus to determine rack force are disclosed. An example apparatus includes a rack to couple to a steering knuckle of a vehicle, a ball nut engaged with the rack, a first ring gear coupled to the ball nut, a first pinion fixed to a motor, the first pinion engaged with the first ring gear, the motor to rotate the ball nut to move the rack, a motor encoder to detect a rotation of the first pinion, a second ring gear coupled to the ball nut, and a sensor fixed to a second pinion, the second pinion engaged with the second ring gear, the second pinion to rotate as the second ring gear rotates, the sensor to detect a rotation of the second pinion, the rotation of the second pinion and the rotation of the first pinion corresponding to a force on the rack.

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 control system includes a communication network, a vehicle integration module, and a pair of control assemblies. Each of the pair of control assemblies is configured to be operated by a respective control lever and communicatively connected to the vehicle integration module. Each of the pair of control assemblies comprises an operator control assembly that includes a neutral switch, a return-to-neutral assembly configured to provide a return force to the respective control lever, a return-to-neutral shaft supporting a portion of the return-to-neutral assembly, a magnet attached to the return-to-neutral shaft, a position sensor assembly, and a linkage connecting the operator control assembly to the return-to-neutral assembly. The position sensor assembly includes a circuit board, a magnetic field sensor configured to sense a rotational orientation of the magnet, and a plurality of terminals for communication with the circuit board.

Abstract: A steering device includes a turning shaft, a turning motor, and a control device that controls the turning motor such that an angle capable of being converted into a turning angle of a turning wheel follows a target angle that is calculated depending on a steering state of a steering wheel. The control device executes a correction process of correcting the target angle. The control device corrects the target angle such that the degree of an increase in the target angle is slower as the target angle approaches a limit value of an angle region, when the target angle increases toward the limit value of the angle region in either of a vehicle stop state or an extremely low speed state.

Abstract: A robot includes: an identifying component, configured to, when detecting positioning reference objects on both sides of the robot during movement of the robot, obtain distance information between the identifying component and the positioning reference object on each side, respectively, and send the distance information to the robot processor, a positioning component, configured to obtain first location information when the identifying component identifies the positioning reference objects, and send the first location information to the robot processor; and a robot processor, configured to determine middle position information between the positioning reference objects based on the distance information to the positioning reference object on each side and the first location information; determine a motion control parameter based on the middle position information and the first location information; and control, based on the motion control parameter, the robot to move along a middle position between the position

Abstract: There is provided an electric power steering apparatus in which constituent elements of a control unit for controlling one of 2 winding groups of a motor and constituent elements of a control unit for controlling the other one thereof are arranged in point symmetry with respect to a center axis of an output shaft or in line symmetry with respect to a virtual straight line perpendicular to a direction in which the output shaft extends.

Abstract: A steering system for a motor vehicle having a rotation sensor may include a magnetic element that is attached to a steering shaft and is rotatable with the latter about an axis, two stator elements that are arranged fixed coaxially relative to the steering shaft. The stator elements may be spaced apart axially from one another and may be operatively connected to at least one sensor element via two flux conductors. A flux conductor in each case has a collecting portion, a connecting portion, and a compensator portion. The collecting portion is connected to a stator element and is connected to the compensator portion via a connecting portion. The sensor element may be arranged between the two flux conductors. The compensator portion may have a compensator surface that is smaller than or equal to a collecting surface of the collecting portion.

Abstract: A steering device includes: a steering shaft which extends along a central axis and to which a steering wheel is coupled on one side in an axial direction; a tubular steering column which is disposed on an outer circumferential side of the steering shaft and extends in the axial direction; and a gearbox which is disposed on the other side in the axial direction of the steering column and is fixed to the steering column. The steering column includes a fixing member provided at an end on the other side in the axial direction and fixed to the gearbox, and an outer circumferential surface on one side in the axial direction of the fixing member has an outer diameter which increases toward the other side in the axial direction.

Abstract: Described is a rotation limitation module for a steer-by-wire steering system. Said rotation limitation module comprises a housing in which a shaft portion that is rotatable about a central axis and is able to be rotatably coupled to a steering wheel shaft or is configured as a portion of the steering wheel shaft is received. Furthermore provided is a limiter disk which by way of a sliding guide is coupled in a rotationally fixed and axially displaceable manner to the shaft portion and has an external thread which is driven into an internal thread of the housing. Moreover, the rotation limitation module comprises a first detent ring having a first detent wing, and a second detent ring having a second detent wing, both detent wings for limiting a rotation of the shaft portion being able to cooperate with the limiter disk. A steering wheel module for a steer-by-wire steering system is also disclosed, which comprises such a rotation limitation module.

Abstract: A steering transmission for an electro-mechanical steering system for a vehicle includes an electric motor, a servo transmission, and an angle transmission for connecting a steering column of the steering system to a control stalk of the steering system. The angle transmission is a mechanically driven recirculating-ball transmission with a ball nut, which is engaged with a segment shaft of the steering transmission that is/can be connected to the steering stalk. A spindle of the recirculating-ball transmission is continuous. The spindle is connected to an output shaft of the servo transmission on one side. The servo transmission is/can be driven by the electric motor.

Abstract: The invention relates to a rotary control device (1) for steering a vehicle comprising a user interface surface (3), in particular a knob, that is embodied to rotate with respect to a housing (5) of the device (1) around a rotational axis (7) of the device (1), further comprising a sensor unit (9) for monitoring the orientation and/or rotational movement of the user interface surface (3) with respect to the housing (5), a processing unit (11), and a communications interface (13) for transmitting control signals (Ts) according to an output (Op) from the processing unit (11), said output (Op) being generated by the processing unit (11) on the basis of sensor data (Ds) from the sensor unit (9).

Abstract: A drive system for a zero turning radius (ZTR) vehicle includes a steering control and a sensor configured to receive a position of the steering control. A damper is coupled to the steering control and is configured to apply a selectable amount of resistive force to the steering control. A controller is in communication with the sensor and is configured to operate a motor of the ZTR vehicle responsive to the position of the steering control, and to operate the damper to apply a resistive force to the steering control responsive to actuation of the steering control.

Abstract: A fast self-tuning method of gain applied to a servo actuator connected with a motor is disclosed and includes following steps: retrieving a current-feedback information of the motor to compute a torque estimated value; retrieving a position-feedback information of the motor to compute an acceleration estimated value; computing a system inertia based on the torque estimated value and the acceleration estimated value, wherein the system inertia indicates an inertia of the motor carrying a specific load; computing an estimated control gain for the servo actuator based on the system inertia; and, performing a self-tuning procedure by the servo actuator in accordance with the estimated control gain.

Abstract: The present disclosure provides a steering control device capable of transmitting an appropriate reaction force by a driver via a steering wheel and improving the stability of a vehicle. Provided is a steering control device 100 for controlling a reaction force actuator 16 that generates a reaction force against an operation of a driver in a steering wheel 13 of a vehicle 10. The steering control device 100 increases the reaction force in a nonlinear region where a cornering force characteristic that is the relationship between the slip angle and the lateral force of tires 11 of the vehicle 10 becomes nonlinear, more than the reaction force in a linear region where the cornering force characteristic becomes linear.

Abstract: A power assistance drive for a steering column of a motor vehicle may include a belt drive arranged in a housing, with an input pulley that is coupled to the motor shaft of a motor so as to be rotationally drivable about an input axis and which is drivingly connected by means of a drive belt to an output pulley that is mounted in the housing so as to be rotatable about an output axis. To enable a repair-friendly design and easier replacement of the motor, the motor may be releasably attached to the housing and the motor shaft may be connected to the input pulley by means of a releasable coupling.

Abstract: Technologies and techniques for operating an assistance system of a motor vehicle for providing a shoulder function. Under a first condition, a motor vehicle is detected on a shoulder of a roadway via at least one detecting apparatus in accordance with at least one predetermined first criterion. Under a second condition, a steering behavior of a driver of the motor vehicle is determined in accordance with a second criterion, where a shoulder function is executed in accordance with which an automatic driving intervention. Under a third condition, an obstacle ahead of the motor vehicle in the direction of travel is detected by the at least one detecting apparatus in accordance with a specified third criterion, where a control signal influencing the execution of the shoulder function is output.

Abstract: A steer-by-wire steering system including a feedback actuator to simulate a steering feel to a steering device and including an electric motor connected to a steering shaft to transmit a torque, and a steering lock including a latch connected to the steering shaft in a torsion-resistant manner and a lock to engage with the latch at locking positions to block a rotation of the steering shaft. If an ignition is switched-off and a movement of the steering device is detected, a position of the steering shaft and a distance between the lock and a next locking position of the latch is determined. If the distance is greater than a predefined value, a counter-torque is transmitted to the steering shaft by the feedback-actuator opposite to the movement of the steering device until the locking position reaches the lock and the lock can engage with the latch.

Abstract: A method for operating a steering system includes the steps of: (1) acquiring a variable at least during the partially automated driving; (2) determining whether or not the driver wishes to control the vehicle manually using a variable; (3) ending the partially automated driving and converting steering movements applied by the driver into steering movements of the motor vehicle via a front-axle actuator unit irrespective of the current rotational angle of the steering wheel, if the driver wishes to control the vehicle manually. The variable acquired during partially automated driving may be any of the following: a driver gripping force applied to the steering wheel, a driver torque applied to the steering wheel, deflection of the steering wheel, a gradient of the driver gripping force to the steering wheel, a gradient of the driver torque applied to the steering wheel, and deflection gradient of the steering wheel.

Abstract: An electric power steering apparatus arranged in the vicinity of a heat source mounted on a vehicle includes: a rack shaft that turns a road wheel; an output shaft provided with a pinion gear engaged with a rack gear of the rack shaft; a worm wheel provided on the output shaft; a worm shaft engaged with the worm wheel; an electric motor that drives the worm shaft; and a controller that controls driving of the electric motor, and wherein at least a part of the controller is arranged on the opposite side of the heat source such that a rack housing is sandwiched between at least a part of the controller and the heat source, the rack housing accommodating the rack shaft.

Abstract: A system includes a sensor integrated circuit (IC), including a driver adapted to be coupled to an oscillator, the driver including first and second transistors. The sensor IC includes an amplitude control amplifier coupled to the first transistor. The sensor IC also includes a common mode control amplifier coupled to the second transistor. The sensor IC includes a handover control circuit coupled to the amplitude control amplifier and configured to hand off an operation from the sensor IC to a different sensor IC, the handover control circuit including a resistor network coupled to a switch network.

Abstract: A steering apparatus for vehicles that assists and controls a steering system includes a torsional angle control section that calculates a motor current command value to make the torsional angle follow a target torsional angle; the torsional angle control section includes a steering angle disturbance compensating section that calculates a first compensation motor current command value by performing filter processing to the detected steering angle, and the torsional angle control section performs compensation by the first compensation motor current command value in calculation of the motor current command value.

Abstract: A method for controlling a steer-by-wire steering system for a motor vehicle may involve determining a torque request signal with a position controller of an activation unit based at least on a desired steering angle and an actual steering angle, limiting the torque request signal in a signal limiting device of the activation unit such that the torque requested by the limited torque request signal is limited to a permissible torque range, and transmitting the limited torque request signal to an electronically controllable steering actuator. The signal limiting device may determine a reference torque signal by way of a reference controller based at least on the desired steering angle and the actual steering angle. The signal limiting device may define the permissible torque range by way of a selectable maximum deviation from the reference torque signal.

Abstract: An apparatus for use in turning steerable vehicle wheels includes a rotatable shaft that is rotatable relative to the vehicle to effect turning movement of the steerable vehicle wheels. A ball nut assembly is connected with an externally threaded portion of the rotatable shaft. The ball nut assembly moves axially relative to the rotatable shaft upon rotation of the rotatable shaft relative to the ball nut assembly. A steering member is connected to the ball nut assembly and at least one steerable vehicle wheel. The steering member moves with the ball nut assembly relative to the shaft. An electrical motor is connected with the rotatable shaft. The motor is operable to effect rotation of the rotatable shaft relative to the ball nut assembly to turn the steerable vehicle wheels.

Abstract: A temperature-detecting device includes a frame, a temperature-detecting unit, a driving unit, a rotation-controlling unit, and a controller. The temperature-detecting unit includes a sensor, a sensor cap, and a sensor case. The rotation-controlling unit is configured to stop rotation of the sensor cap when the temperature-detecting unit reaches a target angle that is over 360 degrees from a reference position, with the sensor case being kept rotated by the driving unit such that the sensor is displaced from an opening and is covered by the sensor case. The controller is configured to correct a temperature detected while the sensor is exposed at the opening, with reference to a temperature detected while the sensor is covered by the sensor case.

Abstract: In an embodiment a mobility vehicle platform includes a body part open toward an upper side and configured to receive a cabin at the upper side and a wheel part detachably connected to the body part, wherein the wheel part includes a steering member rotatable about an axis extending in an upward/downward direction, a wheel member connected to the steering member and configured to contact a ground surface, and a coupling member, into which the steering member is inserted, and detachably mounted to the body part, wherein the body part includes a body member configured to receive the cabin at an upper side thereof, and a protruding member coupled to the body member to protrude toward an outside of the body member, and to which the coupling member is coupled, and wherein the coupling member includes a first coupling part extending upwards and a second coupling part extending from an upper end of the first coupling part toward the body part.

Abstract: According to the present embodiments, a torque applied to a torsion bar is attenuated to thus relatively increase the rigidity of the torsion bar, thereby improving the response performance to a driver's steering wheel operation, increasing a responsive torque range, securing the durability of components such as the torsion bar, and simplifying adjustment of the moving distance of a rack bar compared to the number of revolutions of the steering wheel.

Abstract: A vehicle steering system and a vehicle are provided. The vehicle steering system includes a steering shaft and a steering transmission shaft. The steering shaft or the steering transmission shaft includes a first shaft section and a second shaft section. A clutch mechanism is arranged between the first shaft section and the second shaft section. In an engaging state, a transmission connection is established between the first shaft section and the second shaft section, and in this case, a controller determines that the vehicle enters a driving mode. In a disengaging state, the transmission connection between the first shaft section and the second shaft section is disconnected, and in this case, the controller determines that the vehicle enters a game mode.

Abstract: Described herein are systems, methods, and other techniques for damping oscillations of an implement of a vehicle while the vehicle is moving. Sensor data is captured using one or more sensors that are attached to the vehicle. The sensor data is analyzed to extract one or both of symmetric oscillation information or asymmetric oscillation information. One or both of a speed damping signal or a steering damping signal are generated based on analyzing the sensor data. The speed damping signal is generated in response to extracting the symmetric oscillation information and the steering damping signal is generated in response to extracting the asymmetric oscillation information. A movement of the vehicle is modified using one or both of the speed damping signal or the steering damping signal.

Abstract: This disclosure relates to a system and method for determining vehicle operator preparedness for vehicles that support both autonomous operation and manual operation. The system includes sensors configured to generate output signals conveying information related to vehicles and their operation. During autonomous vehicle operation, the system gauges the level of responsiveness of an individual vehicle operator through challenges and corresponding responses. Based on the level of responsiveness, a preparedness metric is determined for each vehicle operator individually.

Abstract: A drive force control system for a vehicle configured to accurately imitate a change in a drive force in a model vehicle. A drive torque simulator computes a virtual drive torque supposed to be delivered to drive wheels of the model vehicle in response to a manual operation to manipulate the vehicle, based on torque changing factors of a powertrain of the model vehicle. An actual torque calculator computes a target torque of a motor that is practically delivered to the drive wheels in the vehicle based on the virtual drive torque computed by the drive torque simulator, taking account of torque changing factors of the powertrain of the vehicle.

Abstract: Method for determining a friction to be adjusted in a power steering system or for modifying a hysteresis of a steering wheel torque applied to a steering wheel of the power steering system, the method including the following steps of: determining a speed, from a measurement of a speed of a part of the power steering system and/or a measurement of the steering wheel torque; determining the friction to be adjusted on the basis of a modified LuGre model, said modified LuGre model determining the friction to be adjusted as a function of a state of the system, a time derivative of the state being determined as a function of said state of the system, the speed, a first gain, and a coulomb friction, according to an equation of the form: z . = v ? ( 1 - ? ? ( z , v ) ? ? 0 ? z F c ? sign ? ( v ) ) .

Abstract: A steering device includes: a plurality of electric motors 10 configured to be driven to turn wheels of a vehicle; and three or more drive systems 20 each configured to output a driving force for driving a corresponding one of the electric motors 10 to the corresponding one of the electric motors 10. A total of maximum driving forces each of which is a maximum value of a driving force of each drive system 20 of the steering device is set larger than a required driving force required to turn the wheels with the vehicle stationary, and in an event of a failure occurring in one of the three or more drive systems 20, a total of the maximum driving forces of other properly working drive systems 20 out of the three or more drive systems 20 amounts to the required driving force.

Abstract: A route generation device includes: a steering loaded state input unit to which a steering loaded state of a vehicle is inputted; a parking slot position input unit to which a position of a parking slot near the vehicle is inputted; a vehicle position input unit to which a position of the vehicle is inputted; a number-of-times-of-static-steering upper limit calculation unit configured to calculate, on the basis of the steering loaded state, a number-of-times-of-static-steering upper limit value up to which static steering of the vehicle can be performed between the position of the vehicle and the position of the parking slot; and a guidance route generation unit configured to generate a guidance route for guiding the vehicle to the parking slot, on the basis of the position of the vehicle, the position of the parking slot, and the number-of-times-of-static-steering upper limit value.

Abstract: A class-D driver circuit includes a feedback loop including an input integrator stage, a switched modulator, and an output driver stage. A feedback resistor connects an output terminal of the output driver stage with an input node of the input integrator stage to provide a feedback current. The class-D driver circuit also includes a compensation circuit configured to provide a compensation current to an output node of the input integrator stage to relieve a slew rate limitation of the feedback loop, the compensation current having a magnitude based on the magnitude of the feedback current.