Abstract: A vehicle control system includes a central ECU configured to calculate target outputs of actuators, and relay devices each disposed in a communication path between the central ECU and a corresponding actuator among the actuators. The plurality of relay devices includes a specific relay device configured transfer a control signal from the central ECU only to a fixed actuator that is an actuator not related to driving control, braking control, and steering control of a vehicle. The specific relay device is configured to output, to the fixed actuator coupled to the specific relay device, one of a signal for setting the fixed actuator in an operating state or a signal for setting the fixed actuator in a non-operating state, in response to detection of an abnormality in the central ECU. The specific relay device does not have a function of diagnosing an abnormality in the specific relay device.

Abstract: A steering system includes a steering shaft that rotates along with an operation of a steering wheel; a motor configured to generate a torque that is applied to the steering shaft; and a control unit configured to control the motor. The control unit is configured to control the motor such that a rotation speed of the steering wheel decreases gradually to zero when automatic rotation of the steering wheel is stopped, in a case where the steering wheel is automatically rotated as an adjustment process of adjusting a rotational position of the steering wheel.

Abstract: Technologies and techniques for determining a gear rack force of a steer-by-wire steering system that includes a steering handle, for specifying a steering angle as a function of a steering handle position. A vehicle wheel actuator is configured to set the steering angle by movement of a gear rack of the steering system, by applying an actuating force, the gear rack being coupled to at least one vehicle wheel. A reaction force actuator may produce a reaction force on the steering handle in accordance with a gear rack force. Friction operation is determined, in which gear rack movement does not occur when the steering handle position is changed, and, if friction operation is present, the gear rack force is determined on the basis of the actuating force of the vehicle wheel actuator.

Abstract: Improving the assemblability while improving the heat dissipation effect of the heat-sink. In the rotary electric machine, the ECU unit has the heat-sink that closes the opening of the housing of the motor portion, the circuit board fixed to the lower side of the heat-sink, and the connector assembly fixed to the upper side of the heat-sink with a part of the heat-sink exposed. Thus, the heat of the electronic components of the circuit board can be dissipated to the outside of the rotary electric machine by the heat-sink. Moreover, a connection terminal is provided on the lower surface of the circuit board, and the bus bar terminal portion of the motor portion is press-fitted into the connection terminal. Therefore, the bus bar terminal portion can be connected to the circuit board without being soldered to the circuit board. Therefore, the assemblability of the rotary electric machine can be improved.

Abstract: A method for actuating a vehicle steering actuator which is coupled to a steering gear, comprising: providing an end stop return function with which a first control variable for the vehicle steering actuator can be ascertained, on the basis of which a force that returns the steering gear in the direction of a defined position can be at least partially generated with the vehicle steering actuator; ascertaining whether the steering gear falls below a limit distance from an end stop; and if this is the case: actuating the vehicle steering actuator on the basis of the first control variable ascertained with the end stop return function, which control variable has a value above a threshold value; wherein, if the limit distance is not fallen below, no control variable is ascertained with the end stop return function or a control variable with a value not exceeding the threshold value.

Abstract: The invention relates to a steering assembly (12) for a vehicle (10). The steering assembly (12) comprises a first steering actuator (14) and a second steering actuator (16). The first steering actuator (14) is adapted to be actuated in accordance with at least one signal issued from a motion control system (18) to control a steering angle of at least one steerable ground engaging member (20, 22) of the vehicle (10) to thereby control the steering of the vehicle (10). The first steering actuator (14) is associated with a first nominal steering capability, defining at least one limitation of at least one of the following: steering angle, steering angle rate and steering torque, for the at least one steerable ground engaging member (20, 22).

Abstract: A leaning vehicle including a vehicle body frame that is configured to lean leftward and rightward respectively when the leaning vehicle is turning left and right, a steerable wheel supported by the vehicle frame body, a steering mechanism steering the steerable wheel, and a posture control actuator device. The posture control actuator device includes a posture control actuator that outputs power to control posture of the vehicle body frame, and an angular rate sensor that detects an amount of change per unit time of a rotation angle of the vehicle body frame around a rotation axis thereof, the rotation angle changing as the vehicle body frame is rotating around the rotation axis. The posture control actuator device is supported by the vehicle body frame, and is attachable to and detachable from the vehicle body frame. The posture control actuator and the angular rate sensor are not displaceable relative to each other.

Abstract: A motor includes a drive source assembly including a first wiring, a rotation detector including a second wiring, and a motor housing. The motor housing includes a first motor housing that accommodates at least a portion of the drive source assembly, and a second motor housing that accommodates at least a portion of the rotation detector. The first motor housing includes a first penetration portion that radially penetrates the circumferential wall portion of the first motor housing and is open to one axial side, and the second motor housing includes a second penetration portion that radially penetrates the circumferential wall portion of the second motor housing and is open to another axial side. The first wiring is lead out to the outside of the first motor housing via the first penetration portion, and the second wiring is lead out to the outside of the second motor housing via the second penetration portion.

Abstract: Methods, apparatus, systems and articles of manufacture are disclosed. An example vehicle disclosed herein includes a steering assist system, a steering wheel, and a steering controller to detect a request to move the steering wheel of the vehicle to a first rotational position, the steering wheel having a second rotational position, actuate, via the steering assist system, the steering wheel towards the first rotational position, determine, based on a relationship between a first parameter and a second parameter, a third rotational position, the third rotational position having an angular offset from the first rotational position, the first parameter corresponding to a position of the steering system, the second parameter corresponding to a load on the steering system, and in response to reaching the third rotational position, disengage the steering assist system, the disengagement causing the steering wheel to rotate to the first rotational position.

Abstract: A steering system configured to steer a vehicle includes a rotary shaft to which an operation member is coupled; a moving unit configured to move the operation member between a normal position that is a position where the operation member is operated by a driver, and a storage area located ahead of the normal position; an external force detection unit configured to detect an external force externally applied to the operation member while the operation member is moving; a determination unit configured to determine whether a direction of the external force detected by the external force detection unit is the same as a moving direction of the operation member; and a control unit configured to control operation of the steering system based on a determination result from the determination unit.

Abstract: A resolver converter includes a tracking loop circuit that calculates an angle ? from a resolver output signal, a control and diagnosis circuit that controls the tracking loop circuit and diagnoses based on the resolver output signal, wherein the control and diagnosis circuit, by operating the tracking loop circuit as a direct digital synthesizer (DDS), synchronously detects a noise signal superimposed on the resolver output signal.

Abstract: In described examples of methods and control systems to control a position and/or velocity of a machine, control circuitry is coupled to receive and dither a control signal, and to compute a control output value according to the dithered control signal and a control function. An inverter is coupled to the control circuitry, to control the position and/or velocity according to the control output value.

Abstract: A steering system includes a control unit. The control unit includes a manual steering angle command value setting unit, a first weighting unit, a reaction combined angle command value calculating unit, a turning combined angle command value calculating unit, a reaction force control unit configured to cause a rotation angle of a reaction motor to conform to a reaction combined angle command value, and a turning angle control unit configured to cause a rotation angle of a turning motor to conform to a turning combined angle command value.

Abstract: A method for determining a friction torque exerted within a steering column of an electric power steering system, the power steering system comprising a steering column provided with a torsion bar undergoing an instantaneous torsion torque, the steering column being linked to a pinion capable of driving a rack, a torsion bar sensor intended to measure the instantaneous torsion torque, the method comprising an acquisition step, during which at least one value of the friction torque is measured by the torsion bar sensor, the acquisition step being carried out following the reception of a trigger signal, the value of the trigger signal depending on values of conditional variables (VL, A, V, C, ?C, ?A).

Abstract: A vehicle steering device includes a first setting portion 41 that sets a target assist torque in accordance with a steering torque, a second setting portion 42 that sets an angle controlling target torque for bringing an angular deviation between a target steering angle and an actual steering angle close to zero, an estimator that estimates a compensation object 43 load with respect to the angle controlling target torque, a first calculating portion 44 that calculates a target automatic steering torque based on the angle controlling target torque set by the second setting portion and the compensation object load estimated by the estimator, and a second calculating portion 44 that performs weighted addition of the target automatic steering torque and the target assist torque in accordance with a value that changes in accordance with a driver input to calculate a target motor torque that is a target value of a motor torque of the electric motor.

Abstract: A vehicle running control system includes: a steering apparatus that includes a turning device being mechanically separated from a steering wheel; a vehicle drive unit; and a control device. The control device is configured to execute: a turning processing that controls the turning device such that an actual turning angle of the wheel approaches a target turning angle; a vehicle driving processing that determines a target vehicle driving force according to a required vehicle driving force based on a vehicle driving request and that controls the vehicle drive unit so as to cause an actual vehicle driving force to the target vehicle driving force determined; and where a turning angle difference is greater than a turning angle threshold value in a low vehicle speed condition, a driving force limiting processing that limits the target vehicle driving force so as to become smaller than the required vehicle driving force.

Abstract: Provided are an apparatus and a method for controlling a motor driven power steering system. The apparatus may include an MDPS basic logic unit configured to determine a first auxiliary command current in a manual driving mode of a vehicle, an autonomous driving steering control unit configured to determine a second auxiliary command current in an autonomous driving mode, a filter unit configured to filter the column torque so that noise torque is removed, and a control unit configured to control whether to activate the filter unit according to whether a predefined sudden steering condition is satisfied, to determine a driver's steering intervention based on selectively filtered column torque, to determine a final auxiliary command current by applying a weight to the first and second auxiliary command currents, and to control switching from the autonomous driving mode to the manual driving mode.

Abstract: A vehicle is capable of compensating for steering control based on vehicle's intrinsic factors and environmental influence factors, thereby performing steering compensation control accurately. The vehicle includes: a storage unit; a driving unit to drive a steering device; a sensor to acquire detection signals including a steering angle and a steering torque; and a controller to determine whether the vehicle is in a predetermined stable running state based on the detection signals, wherein, when the vehicle is in the predetermined stable running state, the controller extracts reference information including a relationship between the steering angle and the steering torque at one or more past time points, stores the reference information in the storage unit, and controls the driving unit based on a difference between the reference information and the steering angle and the steering torque.

Abstract: An electric power steering system includes an electric motor including a motor output shaft. The system also includes a worm operatively coupled to the motor output shaft. The system further includes a worm gear in contact with the worm and operatively coupled to an auxiliary shaft. The system yet further includes a drive gear operatively coupled to the auxiliary shaft. The system also includes a driven gear in contact with the drive gear and operatively coupled to an input shaft to drive a manual recirculating ball steering gear.

Abstract: A method for monitoring vehicle inertia parameters in real-time includes receiving at least one lateral dynamic value. The method also includes calculating at least one vehicle inertia parameter value using the at least one lateral dynamic value. The method also include determining a difference between the calculated at least one vehicle inertia parameter value and a corresponding baseline vehicle inertia parameter value. The method also includes, based on a comparison between the difference between the calculated at least one vehicle inertia parameter value and the corresponding baseline vehicle inertia parameter value and a threshold, selectively controlling at least one vehicle operation based on the calculated at least one vehicle inertia parameter value.

Abstract: To obtain a vehicle control device capable of creating a route that facilitates tracing by a vehicle in autonomous driving and improving positional accuracy of the vehicle at the time of tracing.

Abstract: Complicated system fault diagnosis method and system based on a multi-stage model are provided. The method includes: establishing an integer-order mathematical model, a 0.1-level fractional order mathematical model, and a 0.01-level fractional order mathematical model of a permanent magnet synchronous motor system; designing an integer-order status observer based on the integer-order mathematical model, designing a 0.1-level fractional order status observer based on the 0.1-level fractional order mathematical model, and designing a 0.01-level fractional order status observer based on the 0.01-level fractional mathematical model; corresponding residual values can be obtained by the observers and compared with corresponding threshold values to judge whether there is a fault. The system includes first through third modules. Observers with different accuracy degrees are set up and the permanent magnet synchronous motor system is diagnosed through the observers.

Abstract: A steering control device includes an electronic control unit configured to i) detect an absolute steering angle, ii) determine whether movement of a turning shaft to one of right and left sides has been limited, iii) acquire a limit position determination angle corresponding to the absolute steering angle detected when the electronic control unit determines that the movement of the turning shaft has been limited, and iv) set an end-position-corresponding angle based on the limit position determination angle, the end-position-corresponding angle being an angle indicating that the turning shaft is located at a right or left end position, and the end-position-corresponding angle being associated with the absolute steering angle.

Abstract: Various disclosed embodiments include illustrative controllers, dual power inverter modules, and electric vehicles. In an illustrative embodiment, a controller includes one or more processors associated with a first and second power inverter for the drive unit. Computer-readable media for the one or more processors are each configured to store computer-executable instructions configured to cause the one or more processors to apply a same fault action to the first power inverter and the second power inverter responsive to a fault associated with an inverter chosen from the first power inverter and the second power inverter, wherein the same fault action includes applying equalized torque to each axle operatively coupled to the drive unit.

Abstract: A vehicle steering device includes an electric motor applying a steering force to a vehicle turning mechanism, a first setting portion setting a target assist torque in accordance with a steering torque, a second setting portion setting an angle controlling target torque for bringing an angular deviation between a target steering angle and an actual steering angle close to zero, a restriction processing portion restricting the angle controlling target torque set by the second setting portion, a first calculating portion calculating a target automatic steering torque using the angle controlling target torque after the restriction process by the restriction processing portion, and second calculating portions performing weighted addition of the target automatic steering torque and the target assist torque in accordance with a value that changes in accordance with a driver input to calculate a target motor torque that is a electric motor target motor torque value.

Abstract: An electric power steering system. One example includes a steering control, a steering shaft connected to the steering control, a steering rack, a sensor configured to detect an operating parameter of the steering rack or an electric motor, and an electronic controller. In one example, the electronic controller is configured to receive data indicative of the operating parameter from the sensor, compare the data to a known characteristic curve, the known characteristic curve indicating potential damage to a component of the electric power steering system, and when the data matches the known characteristic curve, output an indication to a user that potential damage has occurred to the component of the electric power steering system.

Abstract: An electric power steering apparatus has a rotation detection device that includes a sensor section that detects a rotation of a motor and outputs a mechanical angle and a count value, and a signal obtainer that obtains the mechanical angle and the count value from the sensor section. The rotation detection device also includes an absolute angle calculator that calculates an absolute angle based on the mechanical angle and the count value and a storage area for storing a reference value that is used for correcting calculation errors in the absolute angle.

Abstract: A snowmobile having enhanced steering control has driving control system including an electrically actuated device coupled to a steering system having a user operated steering element with the device applying torque to the steering system, a throttle, a plurality of sensors including a torque sensor and at least one additional sensor to generate terrain condition data and operational data, and at least one controller coupled to the device and the sensors. The at least one controller selects a terrain condition mode using the generated terrain condition and generated operational data, determines the torque to apply responsive to the angle and speed of rotation of user operated steering element, and operates the electrically actuated device to apply the torque to the steering system, with the torque being applied only by the electrically actuated device.

Abstract: The present invention relates to a steer-by-wire system for a vehicle, and the system may include a reaction motor generating reaction torque based on the turning of a steering wheel, a steering motor implementing a steering manipulation, a motor location detector measuring a current steering angle by detecting a rotation location of the steering motor, a location controller calculating a target steering angle by applying the amount of a location control error to a vehicle speed, command steering angle and current steering angle, a steering controller driving the steering motor based on the target steering angle, and a reaction controller generating the reaction torque according to a driver's steering state based on the vehicle speed and a steering angular velocity, compensating for the reaction torque based on the amount of the location control error, and driving the reaction motor based on the final reaction torque.

Abstract: A hoisting machinery comprises a steering wheel and wheels, wherein the active steering system comprises an active steering device, a hydraulic power steering gear and a hydraulic power steering system, the active steering device is arranged between the steering wheel and a pitman arm of the hoisting machinery, so as to adjust a steering ratio of the steering wheel to the pitman arm according to a driving cycle of the hoisting machinery, and the hydraulic power steering gear is arranged between the steering wheel and the pitman arm, so as to control the hydraulic power steering system to drive steering of the wheels. In the active steering system of the present invention, a hydraulic power steering system is adopted to drive steering of wheels, which can improve capability of overcoming steering resistance and can be applicable to multiple chassis of cranes, thereby enlarging application ranges of the active steering system.

Abstract: A steering control device includes a microcomputer. The microcomputer is configured to calculate a torque command value that is a target value of a motor torque, set a restricting value that is an upper limit of an absolute value of the torque command value, restrict the absolute value of the torque command value to be equal to or less than the restricting value, control driving of a motor such that the motor torque follows the restricted torque command value, calculate a steering angle restricting value that decreases based on an increase of an absolute value of a rotation angle, and an absolute value of an angular velocity, when the absolute value of the rotation angle of the rotary shaft exceeds a steering angle threshold, and set the restricting value to be a value equal to or less than the steering angle restricting value.

Abstract: A relay arrangement includes at least two series-connected relays, which are mechanically and electrically connected to a main printed circuit board via first terminals and second terminals, and at least one flat conductor for conducting current between the at least two series connected relays. The flat conductor is mechanically connected to the main printed circuit board and electrically and thermally connected to the first terminals of the relays, and the at least one flat conductor is configured to dissipate heat produced during operation of the relays.

Abstract: A motor control device drives a motor based on a vehicle signal including drive assist information and performs vehicle control. The motor control device includes: a first controller and a second controller that perform a calculation operation concerning drive control over the motor. A first microcomputer corresponds to a calculation portion of the first controller. A second microcomputer corresponds to a calculation portion of the second controller. The first microcomputer and the second microcomputer mutually transmit and receive operation results by inter-microcomputer communication, or the first microcomputer unilaterally transmits an operation result from the first microcomputer by the inter-microcomputer communication. The first microcomputer and the second microcomputer synchronize timings to start and end control by performing at least one of three types of arbitration processes including: an AND-start arbitration process; an OR-start arbitration process; and a forced arbitration process.

Abstract: An apparatus for controlling an MDPS system may include an MDPS-basic logic unit determining a first auxiliary command current for driving an MDPS motor in a manual driving mode, based on column torque applied to a steering column of a vehicle and a vehicle speed, an autonomous driving steering controller determining a second auxiliary command current for driving the MDPS motor in an autonomous driving mode, and a mode change controller determining a driver's steering intervention using a variable reference time variably determined based on the column torque in the manual driving mode, determining a mode change time from the autonomous driving mode to the manual driving mode based on the column torque, and determining a final auxiliary command current for driving the MDPS motor upon mode change, by applying, to the first and second auxiliary command currents, a weight into which the mode change time is incorporated.

Abstract: A charging/discharging apparatus according to the present embodiment comprises first and second electrode terminals inputting or outputting direct-current power. First to third switching elements are connected in series between the first electrode and the second electrode. A first electric storage is connected in parallel to the second switching element located between the first switching element and the third switching element. A second electric storage is connected in parallel to the third switching element. First to third diodes are respectively connected in antiparallel to the first to third switching elements.

Abstract: A motor driven power steering control method may include setting a virtual friction model to a column connected between a steering wheel and a rack gear; calculating a frictional torque of the column by taking a steering angular speed of the steering wheel as an input parameter in the set virtual friction model; and calculating a target steering torque on the basis of a virtual steering system model using the frictional torque of the column as a parameter.

Abstract: A motor driven power steering control method may include setting a virtual steering system model including a column connecting a steering wheel to a rack gear, determining a column stiffness torque using torsional displacement of the column in the set virtual steering system model, and determining a target steering torque based on the determined column stiffness torque.

Abstract: According to one or more embodiments, a method includes computing, by a steering system, a model rack force value based on a vehicle speed, steering angle, and a road-friction coefficient value. The method further includes determining, by the steering system, a difference between the model rack force value and a load rack force value. The method further includes updating, by the steering system, the road-friction coefficient value using the difference that is determined.

Abstract: A torque compensation apparatus for a Motor Driven Power Steering (“MDPS”) system including: a column torque sensor configured to detect column torque applied to a steering shaft; a steering angle sensor configured to detect a steering angle of a steering wheel; and a controller configured to calculate a compensation ratio by sudden steering, based at least one of the column torque detected by the column torque sensor and a steering angular velocity calculated from the steering angle detected by the steering angle sensor. The basic assist torque outputted from the MDPS system is then compensated for according to the compensation ratio.

Abstract: The present invention prevents occurrence of abnormal noise and swing of a vehicle in mitigating braking force of a steered wheel while reducing a steering load at the time of stationary steering to reduce a burden of a steering device and reducing stress accumulation due to stationary steering to reduce burdens of a tire, a suspension device and the steering device. The present invention includes a stop braking force control unit 202 that individually controls braking forces of steered wheels 51 and 52 and non-steered wheels 53 and 54 at the time of deceleration of the vehicle, and a pre-detection unit 203 that detects steering in a stopped state of the vehicle in advance, in which the stop braking force control unit executes, when the steering in a stopped state of the vehicle is detected in advance by the pre-detection unit, braking force mitigation control to decrease the braking forces of the steered wheels to be lower than the braking forces at the time of normal braking.

Abstract: A steering angle detection device is provided with a plurality of rotation angle sensors and a plurality of control units. The rotation angle sensors are capable of at least continuously calculating a rotation speed while an ignition switch of a vehicle is turned off, and are provided so as to correspond to steering angle calculation units which calculate steering angle based on the rotation speed and a rotation angle acquired from the rotation angle sensors and midpoint information related to the neutral position of a steering member. Power supplies are provided on a per-system basis. The rotation angle sensors or the control units are capable of holding the midpoint information while the ignition switch is turned off. If a power supply abnormality resulting in power supply failure occurs in some of the systems, the control unit of the abnormal system acquires the midpoint information and the rotation speed from the control unit of a normal system when the ignition switch is turned on.

Abstract: The disclosure relates to a method and to a device for controlling a steering system and to a steering system having electric steering assistance, wherein a reference variable for the steering assistance is predefined by a steering controller, the steering system is controlled as a function of the reference variable, a compensation value to compensate for a dynamic behavior of an axle steered by the steering system is determined on the basis of a model, the reference variable is determined as a function of the compensation value. The disclosure further relates to a method and to a device for emulating dynamics of the steered axle.

Abstract: An electric power steering apparatus includes a first motor configured to provide a force for movement of a rack; a second motor configured to provide a force for movement of the rack in synchronized with the first motor; a torque angle sensor configured to detect a torque value and a steering angle according to steering of a steering wheel; at least one sensor configured to detect an operation state of the first motor and an operation state of the second motor; and a controller configured to control the operation of the first motor and the second motor in accordance with the steering of the steering wheel and to control the operation of the first motor and the second motor based on the torque value, the steering angle, the operation state of the first motor and the operation state of the second motor.

Abstract: Disclosed are an apparatus for and a method of compensating for a steering error in an advanced driving assistance system, and the apparatus includes a command steering angle correction module that corrects a command steering angle according to whether or not the command steering angle input from the advanced driving assistance system satisfies a preset error compensation condition; and a motor control unit that controls a motor of a motor-driven power steering system according to the command steering angle corrected by the command steering angle correction module.

Abstract: A rotation detection device includes a rotation detection circuit, a step-up power supply circuit, a step-down power supply circuit, a first power supply path, and a second power supply path. The rotation detection circuit is configured to detect a rotation number of a motor that generates a torque applied to a steering mechanism of a vehicle, based on an electric signal. The electric signal is generated according to a rotation angle of the motor that is acquired through an in-vehicle sensor.

Abstract: A modular power steering apparatus includes a rotatable shaft, which is selectively rotatable to effect turning movement of at least one vehicle wheel. A housing supports the rotatable shaft for rotation relative thereto, about a shaft axis. A first rotational input assembly is provided for transmitting a steering command from a steering member to the rotatable shaft. A second rotational input assembly is operatively connected with the rotatable shaft. The second rotational input assembly is configured to apply a rotational force to the rotatable shaft. The apparatus includes a plurality of drive stations. Each drive station is configured to selectively accept both of the first and second rotational input assemblies for operating connection to the rotatable shaft at different times.

Abstract: A method for operating an electrical power steering system of a transportation vehicle wherein a steering wheel angle is pre-defined by a steering wheel as a measure for a desired wheel steering angle for at least one steerable wheel of the transportation vehicle, where an electrical power drive with an electric motor provides a steering support, and where a support torque of the steering support is reduced based on a damping function in response to the combustion engine of the transportation vehicle being started. Also disclosed is an associated electrical power steering system, to a computer program, and to a control appliance.

Abstract: A method of operating a motor vehicle includes sensing a sensed torque based on a driver interaction with a steering wheel that is part of an electric power steering system, the sensed torque being sensed using a torque sensor, calculating driver steering wheel torque using state variables of a steering system model based on the electric power steering system, and controlling a difference between the driver steering wheel torque calculated from the steering system model and sensed torque sensed by the torque sensor to converge to zero through a controller.

Abstract: The failure detection device includes: an output unit detecting failure of a torque detection device that detects torque applied to a pinion shaft with torque sensors, and a target current calculation unit controlling drive of the electric motor. In response to detection of failure of one of the torque sensors, the target current calculation unit causes the motor to output continuous torque continuously generating torque that is detectable by the other of the torque sensors and, in response to the motor outputting the continuous torque, the output unit diagnoses failure of the other of the torque sensors based on a pattern of vibrations detected by the other torque sensor due to the continuous torque and determines that the other torque sensor is having failure if amplitude of vibrations is less than a reference amplitude.

Abstract: The electric power steering apparatus according to the present disclosure includes a steering assist mechanism and a controller. The steering assist mechanism is driven by a motor and assists operation of a steering wheel by a driver. The controller acquires the position of the steering wheel and sets a target value of a steering reaction torque acting on the steering wheel. Then, the controller calculates a position target of the steering assist mechanism based on the position of the steering wheel and the target value of the steering reaction torque, and controls the motor of the steering assist mechanism according to the position target of the steering assist mechanism.