Abstract: A self-holding termination determination section has an overheat protection map that defines a relationship between a current value and a maximum temperature of a protected portion to which a current value is applied, and sets a limit temperature corresponding to a required current value at next start time based on the map. The self-holding termination determination section calculates, as an evaluation temperature, temperature obtained by adding a performance assurance upper limit temperature, which assures output performance of a motor at the next start time, to the sum of temperature rises. In a next time performance determination process, if the evaluation temperature for all protected portions has fallen below the limit temperature, the self-holding termination determination section determines that a performance assurance condition is met, and terminates power self-holding based on at least the fact that the performance assurance condition is met.

Abstract: The present embodiments relate to a system and a method for controlling autonomous steering according to a required torque from a driver assistance system, in which when outputting a driving current by the required torque, a compensation current is output by applying gains according to a car speed, steering angle, steering angle speed, and required torque to a variation in torque by the rotation of a steering wheel, thereby achieving autonomous steering with the smooth rotation of the steering wheel without intermittent interruptions even in high friction between the car and the road depending on road conditions.

Abstract: An electric power steering apparatus including a torque sensor to detect a steering torque and a motor control unit to control a motor that applies an assist torque to a steering system of a vehicle, including a function to switch a control system of the motor between a torque control system to control a motor output torque and a position/speed control system to control a steering angle of a steering in accordance with a predetermined switching trigger, such that a fade processing switches from the torque control system to the position/speed control system or vice versa.

Abstract: An electric power steering apparatus that enables implementation of a desired steering torque without being affected by a state of a road surface by controlling a steering torque so as to become a value corresponding a steering angle and a steering angular velocity. The apparatus includes a SAT compensation value calculating section that calculates a SAT compensation value based on a SAT value; and a steering reaction compensation value calculating section that calculates a steering reaction compensation value based on the SAT compensation value, a steering angle and a steering angular velocity, and corrects the current command value by the steering reaction compensation value. Further, an electric power steering apparatus controls a twist angle of a torsion bar so as to follow a value corresponding to a steered angle.

Abstract: With an object of allowing steering wheel operation to be carried out easily at a normal time and when an abnormality occurs, the invention includes a motor having two windings and a control unit having two control systems that supply control signals to each winding of the motor and when an abnormality occurs in one winding of the motor or in one system inside the control unit, a supply of current to the winding in which the abnormality has occurred is cut to zero, and the motor is driven by a predetermined current necessary at a normal time being supplied to the other winding, while at a time of a normal drive when no abnormality has occurred, the current supply is shared between the two windings, whereby the motor is driven.

Abstract: An electric power system includes a polyphase electric machine, battery pack, power inverter module, analog input sensor, and diagnostic controller executing a method. The sensor measures an electrical parameter that differs from a true value of the parameter by an initial offset value. The controller collects sample sets of the parameter, compares the initial offset of each sample to an outlier threshold in a first diagnostic loop, and transmits a bit flag indicative of an outlier sample to a slower second diagnostic loop when the initial offset of a sample exceeds the outlier threshold. The second control loop calculates a rolling average of the initial offsets of the sample sets, discards the set containing the outlier sample in response to the bit flag, and executes a control action when the average exceeds a threshold that is lower than the outlier threshold.

Abstract: A motor controller includes a temperature estimator that estimates a temperature of an element in a motor driver circuit that drives a motor, or a temperature of a winding of the motor, and a non-volatile memory that provides a first area and a second area for storing the estimated temperature. The temperature estimator writes the estimated temperature to both of the first area and the second area.

Abstract: An electric power steering apparatus that calculates a current command value based on at least a steering torque and assist-controls a steering system by driving a motor based on the current command value, the apparatus having a function to detect a steering angle on a steering and includes a gain section having a gain characteristic that a gain changes corresponding to the steering angle, such that a new current command value is generated by multiplying the current command value with the gain outputted from the gain section corresponding to the steering angle, and the gain characteristic is a constant value “1.0” till a steering angle ?1 short of a rack end, gradually decreases till a steering angle ?2 (>?1) exceeding the rack end and holds a constant value G (>0) in a region that the steering angle is equal to or more than the steering angle ?2.

Abstract: An electric power steering apparatus including a torque sensor to detect a steering torque and a motor control unit to control a motor that applies an assist torque to a steering system of a vehicle, including: a function to switch a control system of the motor between a torque control system to control a motor output torque and a position/speed control system to control a steering angle of a steering in accordance with a predetermined switching trigger. The fade processing time from the torque control system to the position/speed control system and the fade processing time from the position/speed control system to the torque control system are individually set.

Abstract: An electric power steering device for a vehicle includes a plurality of assist systems electromagnetically driving an electric motor. When a first or second assist system malfunctions, a malfunction state assist amount calculation part calculates an assist amount while decreasing a limit value at the vehicle stopping, to an amount smaller than a limit value at the vehicle moving. When a malfunction such as a disconnection or a fixing of the switching elements occurs in the first or second assist systems on the basis of a judgment result of a malfunction judgment function, an assist amount switching part supplies an assist amount received from the malfunction state assist amount calculation part to first and second motor drive control parts. When a malfunction occurs in one of the first and second assist systems, one of the first and second motor drive control parts drives the motor by using the assist amount.

Abstract: A high-performance electric power steering apparatus that includes a control system based on a physical model, includes a model following control that an output (a distance to a rack end) of a controlled object follows-up to a reference model, eliminates or reduces the occurrences of a noisy sound and a shock force at an end hitting without giving any uncomfortable steering feeling to a driver, and reduces the end hitting. The electric power steering apparatus calculates a current command value based on at least a steering torque and performs an assist-control of a steering system by driving a motor based on the current command value, including: a configuration of a model following control including a viscoelastic model as a reference model within a predetermined angle at front of a rack end so as to suppress a rack end hitting.

Abstract: A motor driven power steering (MDPS) system may include: a torque sensor configured to measure a steering torque caused by a steering operation of a driver; a steering angle sensor configured to measure a steering angle of the steering operation; and a controller configured to determine a control torque according to the steering angle measured through the steering angle sensor, calculate an input torque based on the control torque and the steering torque measured through the torque sensor, and determine an assist torque based on the calculated input torque.

Abstract: An electric power steering device includes a phase advance correction unit configured to advance a phase of a steering torque signal detected by a torque sensor detecting a steering torque input from a steering wheel, a specific frequency extraction unit configured to extract a component in a specific frequency band out of the steering torque signal detected by the torque sensor, a gain multiplication unit configured to correct a steering torque signal computed on the basis of an output signal of the phase advance correction unit and an output signal of the specific frequency extraction unit such that the steering torque signal reaches a limit value set by a limiter by multiplying the steering torque signal by a gain, and an addition unit configured to add an assist correction command value calculated on the basis of an output signal output from the gain multiplication unit to the assist command value.

Abstract: An electric power steering device includes a basic return command value calculation unit configured to calculate a basic return command value in a direction to return a steering wheel to a neutral position on the basis of a steering angle of a steering wheel, a turn/return determination unit configured to determine the turn and the return of the steering wheel, a gradually changing return command value calculation unit configured to calculate a gradually changing return command value, the gradually changing return command value gradually increasing, while the return of the steering wheel is determined by the turn/return determination unit, and a return command value calculation unit configured to calculate a return command value by adding the gradually changing return command value to the basic return command value. The electric motor is driven by adding the return command value to the assist command value.

Abstract: In a reference state of a rotation angle detector, plural first output coils include first output coils having the number of windings of Ai and Aj, plural second output coils include second output coils having the number of windings Bk and Bm. The rotation angle detector includes at least one configuration from among: a configuration in which the numbers of windings of the first and second output coils are the same numbers of windings as in the reference state, with the exception that the number of windings Ai is the number of windings Ai±a or the number of windings Aj is the number of windings Aj±a; and a configuration in which the number of windings Bk is the number of windings Bk±b or the number of windings Bm is the number of windings Bm±b.

Abstract: A motor driven power steering system may include: a steering angle sensor configured to sense a steering angle of a steering wheel; a motor current sensor configured to sense a current of a motor; an encoder configured to sense a position of the motor; a vehicle speed sensor configured to sense a speed of a vehicle; a virtual torque estimation unit configured to estimate, when an error of a torque sensor is detected, a virtual torque using the position of the motor, the steering angle of the steering wheel, and the current of the motor; and an assist torque calculation unit configured to calculate an assist torque for operation of the motor using the steering angle of the steering wheel, the speed of the vehicle, and the virtual torque.

Abstract: To provide drive controller and control method for an electric motor including plural energization systems composed of an inverter and coils corresponding to plural phases. The controller includes: a current detecting unit for detecting currents between the coils and output points of the inverter or between the coils and a connection point between the coils; an inverter setting unit for controlling an inverter of the energization system involving abnormal energization into a predetermined condition; a torque detecting unit for detecting a torque generated in the energization system involving the abnormal energization based on a current in the energization system, which is detected by the current detecting unit; and a control unit for controlling a normal inverter based on the torque detected by the torque detecting unit. This configuration enhances the performance of controlling the electric motor in case a braking torque is generated due to abnormal energization.

Abstract: An electric power steering apparatus includes a rotating assist force computing unit for computing an assist force in the rotating direction of a steering wheel, a returning assist force computing unit for computing a returning assist force, which is a steering assist force in a direction opposite to the rotating direction, and a summing unit for adding up the computed assist force in the rotating direction and the computed returning assist force. The electric power steering apparatus returns the steering wheel and steered road wheels to the neutral position at an earlier time if a driver releases his or her hands from the steering wheel when rotating the steering wheel.

Abstract: A control system for a power steering system includes a motor; a control module in communication with the motor, the control module providing a compensated velocity loop command to the motor. The control module includes a stability compensation filter module that receives a vehicle speed and a velocity loop command, the stability compensation filter applies a second order filter on the velocity loop command to generate the compensated velocity loop command used by the motor.

Abstract: An embodiment of a system for evaluating a torque sensor includes an input module configured to receive torque signals from a hand wheel torque sensor in a vehicle, and a sensor evaluation module configured to perform monitoring a condition affecting the hand wheel torque sensor, and determining whether the condition indicates a desired situation in which a probability of an input torque being applied to the hand wheel is below a selected threshold. The sensor evaluation module is also configured to perform, based on detecting the desired situation, automatically analyzing the torque signals received during a time duration of the desired situation to estimate one or more torque sensor error values, and outputting at least one of a corrected torque signal and the one or more error values to a torque command generation module, the torque command generation module configured to generate a torque command to an electric motor.

Abstract: A power steering control system is provided. The control system includes an actual module that determines an actual load torque associated with a vehicle chassis. A steering module generates a steering control signal based on the actual load torque.

Abstract: A system for automatically adjusting the temperature and carbon monoxide level in an occupied passenger compartment of a vehicle includes sensors for sensing carbon monoxide levels, temperature, and occupants in the passenger compartment. A controller receives input from the sensors, and activates an electric heater or an electric cooler to bring the temperatures within the passenger compartment within a predetermined temperature range if the temperature detected within the passenger compartment falls outside of the predetermined range of temperatures. The controller may automatically shut off the engine of the vehicle when the vehicle is in idle and the carbon monoxide level within the passenger compartment falls above a predetermined level, or if a transmission lever of the vehicle is placed in a park position. A motor generator unit coupled to the engine provides electricity to rechargeable batteries of an alternate power unit, which powers the electric heater and the electric cooler.

Abstract: A steering control device (30) for a vehicle, the steering control device controlling a steering device, the steering device having a steering mechanism (10) configured to steer wheels (15) and a driving device (40) configured to provide the steering mechanism (10) with Steering force for the wheels (15), the steering control device configured to; detect turning of the wheels (15); determine whether the vehicle is in a stationary steering state; and increase, when the vehicle is determined to be in a stationary steering state as a result of determination whether the vehicle is in a stationary steering state, the steering force to be provided to the steering mechanism (10) than a value upon determination that the vehicle is not in a stationary steering state, wherein the steering control device (30) is further configured to decrease the steering force to be provided to the steering mechanism (10) than before when the turning of the wheels (15) is detected as a result of providing the steering force with the st

Abstract: A electric power steering device includes a basic return command value calculation unit configured to calculate a basic return command value in a direction to return a steering wheel to a neutral position on the basis of a steering angle of the steering wheel, a return command value calculation unit configured to calculate a return command value by correcting the basic return command value by the first correction gain, and an opposite return command value calculation unit configured to calculate an opposite return command value in a direction not to return the steering wheel to the neutral position on the basis of an angular acceleration of an electric motor. A correction return command value is calculated on the basis of the return command value and the opposite return command value and the electric motor is driven by adding the correction return command value to the assist command value.

Abstract: A vehicular camera includes a housing, a lens, an image sensor positioned for receiving images from the lens, a processor, and a memory. The memory contains a plurality of overlays. The processor is programmed to (a) receive first input data from a vehicle in which the camera is to be mounted, wherein the first input data correspond to the configuration of the vehicle, and (b) select a particular overlay to display based at least in part on the input received.

Abstract: A correction circuit stores data for obtaining coefficients of a relational expression indicating a relationship between a disturbance magnetic flux and a rotational angle error. Then, the coefficients are obtained from the data for obtaining the coefficients, and a detection result of a magnetic sensor is corrected based on the coefficients obtained, a relational expression, and a detection result of a disturbance magnetic flux detection circuit. Since it is possible to obtain the rotational angle error with respect to the disturbance magnetic flux from the coefficient obtained and the relational expression, it is not necessary to store the data indicating the relationship between the disturbance magnetic flux and the rotational angle error for all of the disturbance magnetic flux value in disturbance magnetic flux regions that may be applied.

Abstract: An electric power assisted steering system comprising an input shaft and an output shaft, an electric motor connected to the output shaft, at least two sensors including one or more of: a position sensor, a torque sensor, and a motor position, and a motor controller that causes the motor to apply an assistance torque as a function of the torque measured by the torque sensor, in which each of the sensors produces at least one output signal represented by a stream of digital samples captured at discrete times, and in which the apparatus further comprises: processing means arranged to process together the output signals from both processing units to produce at least one further signal.

Abstract: A lane keeping assist apparatus has a vehicle speed responsive adjustment section which receives a target steering angle and a vehicle speed, sets a vehicle speed adjustment coefficient on the basis of the vehicle speed, multiplies an FF target steering torque by the vehicle speed adjustment coefficient, and outputs the resultant value as an adjusted FF target steering torque. The vehicle speed adjustment coefficient is set to 0 when the vehicle speed is lower than a first set vehicle speed and to 1 when the vehicle speed is higher than a second set vehicle speed. An adding section adds the adjusted FF target steering torque and an FB target steering torque together and outputs the resultant value as a final target steering torque.

Abstract: Maneuverability and stability of a suspension unit for a vehicle are improved. A vehicle includes: a steer-by-wire system detecting a displacement of a steering wheel and displacing a steering rack steering steerable wheels on a basis of a detection result of the displacement and a suspension unit suspending the steerable wheels, the suspension unit including: wheel hub mechanisms, each wheel hub mechanism supporting a tire wheel on which a tire is attached, and a plurality of link members supporting the wheel hub mechanisms on the vehicle body; and a kingpin axis passing through an upper pivot point of the link members and lower pivot point of the link members being set to pass through a road surface contact area of the tire at a neutral position of the steering wheel.

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

Abstract: Filters output a vibration-suppression gain for suppressing resonance of a sub frame or shimmy by performing a filter processing on a rotational angle of a motor. The filters have respective frequency characteristics that a gain becomes a maximum magnitude and a phase advances by 90° at a cut-off angle frequency. The cut-off angle frequency of the filter is fixedly set at a resonance frequency of the sub frame. The cut-off angle frequency of the filter is variably set in accordance with a tire rotation frequency. A gain adder adds the respective gains of the filters and outputs an added magnitude to a correcting mechanism as a vibration-suppression gain. The correcting mechanism corrects a motor torque set by an assist map by using the vibration-suppression gain outputted by the gain adder.

Abstract: Using an update amount, an update amount calculating circuit manipulates a phase-control angle so as to perform feedback control such that a steering torque corresponds to a target torque. The steering torque is obtained by reducing a steering torque in magnitude by a predetermined value. The phase-control angle is used to convert a current command value to a value of a fixed coordinate system, for example. Using a guard value, a guard processing circuit performs a guard process on a current command value set by a command value setting circuit, so that the current command value becomes the current command value. The guard value is used to determine an appropriate range for a variation in the current command value in accordance with an amount by which the steering torque exceeds in magnitude the target torque.

Abstract: An in-vehicle device controller has at least two redundant operating condition detection units. Under normal circumstances, the controller performs actuator drive control based on an operating condition detection signal of one of the operating condition detection units. Upon detection of an abnormality in the signal transmission state, data state or operating status of one of the at least two operating condition detection units, the controller performs actuator drive control based on an operating condition detection signal of another one of the at least two operating condition detection units in which no abnormality is present. By this control, the actuator function is preserved even in the event of the abnormality in the operating condition detection unit or operating condition detection signal.

Abstract: An automotive vehicle may include an engine, an electric power steering system and at least one controller. The at least one controller may, during an auto stop event of the engine, reduce at a first rate an available electric power steering system current to a non-zero threshold value before fuel to the engine is shut off and reduce at a second rate different than the first rate the available electric power steering system current from the non-zero threshold value to 0 after fuel to the engine is shut off.

Abstract: A system for detecting offset error in a power steering system is provided. The system includes a programmable high pass filter module configured to filter a final voltage command and generate a filtered final voltage command. The filtered final voltage command includes the sinusoidal component, a gain and phase compensation module configured to perform a gain compensation and a phase compensation on the filtered final voltage command to generate a compensated final voltage command. An error detection module is configured to determine an offset of the compensated final voltage command in a stator reference frame.

Abstract: A lane keeping assist apparatus has a vehicle speed responsive adjustment section which receives a target steering angle and a vehicle speed, sets a vehicle speed adjustment coefficient on the basis of the vehicle speed, multiplies an FF target steering torque by the vehicle speed adjustment coefficient, and outputs the resultant value as an adjusted FF target steering torque. The vehicle speed adjustment coefficient is set to 0 when the vehicle speed is lower than a first set vehicle speed and to 1 when the vehicle speed is higher than a second set vehicle speed. An adding section adds the adjusted FF target steering torque and an FB target steering torque together and outputs the resultant value as a final target steering torque.

Abstract: Provided is a steering reaction force control apparatus for a vehicle including a driving support device configured to control an electric power steering device via a controller so that a steered angle of steered wheels reaches a target steered angle. When the driving support device is operating, the controller calculates a target steering attenuation torque based on a steering angular velocity that is a time derivative of the steering angle or a time derivative of a corrected steering angle acquired by correcting the steered angle with a target steered angle of the driving support device. When the magnitude of the steering angular velocity is less than a reference value, the target steering attenuation torque is calculated so that the magnitude of the target steering attenuation torque becomes smaller when the driving support device is operating compared with when the driving support device is not operating.

Abstract: When a vehicle is quickly steered while the vehicle is travelling at an extremely low speed, a load on an in-vehicle power supply is reduced without deteriorating a steering feeling by reducing a motor driving current. A steering speed is compared with a threshold. When the steering speed is lower than the threshold, the process proceeds to step S6. In step S6, a voltage value of a battery power supply, which is used as a prescribed value, is set as a limit voltage in order to reduce a motor consumption current. When the steering speed is higher than the threshold, a value “V0/n” lower than the prescribed value is set as the limit voltage to reduce a consumption current when the steering wheel is steered without driving. “n” is “delay adjustment parameter”, and is a real number that exceeds 1.

Abstract: A torque measurement system for measuring a torque acting on a rotatable shaft is provided. The torque measurement system includes a first housing portion having a first end adapted to be fixedly coupled to the rotatable shaft and a second end. The torque measurement system includes a second housing portion having a first end spaced apart from the second end of the first housing portion so as to define a gap between the first housing portion and the second housing portion. The second housing portion is adapted to be fixedly coupled to the rotatable shaft. The torque measurement system includes at least one sensor that observes at least one of the second end of the first housing portion, the first end of the second housing portion and the gap and generates sensor signals based on the observation. The sensor signals are indicative of a torque acting on the rotatable shaft.

Abstract: A vehicle steering system includes a higher-level ECU and a lower-level ECU. The lower-level ECU includes a steered angle limit setter, and steered angle limiters. The steered angle limit setter sets an allowable upper limit to a target inner and outer wheel steered angle difference responsive to the absolute value of a target outer steered angle. The steered angle limit setter calculates a limit to the absolute value of a target inner steered angle. The steered angle limit setter subsequently sets this limit for one of the steered angle limiters that is fed the target inner steered angle in the present calculation cycle. The limiter, which is fed the target inner steered angle, limits the absolute value of the target inner steered angle so that the absolute value of the target inner steered angle is equal to or below the limit, and outputs the resulting value.

Abstract: A method of operating a driver assistance system of a motor vehicle for performing an automatic steering intervention involves detecting how firmly a driver is holding a steering wheel, and determining an intensity value i.e. control value dependent on how firmly the driver is holding the steering wheel. The control value is higher when the driver is holding the steering wheel more firmly, and lower when the driver is holding the steering wheel less firmly. The method then applies an automatic steering intervention with an applied intensity that is controlled in accordance with the control value, so that the applied intensity of the automatic steering intervention is higher when the driver is holding the steering wheel more firmly, and lower when the driver is holding the steering wheel less firmly. A steering assistance system includes a memory, a processor, sensors and an automatic steering control system, to implement the method.

Abstract: A friction compensation control apparatus of a motor driven power steering (MDPS) system may include: a damping control unit configured to detect a damping torque of the MDPS system; and a friction compensation control module configured to detect a friction compensation torque using a column torque, a motor speed, and a vehicle speed, and adjust the detected friction compensation torque according to the magnitude of the damping torque.

Abstract: A system for detecting offset error in a power steering system comprises a programmable high pass filter module configured to filter a final voltage command and generate a filtered final voltage command that includes the sinusoidal component, a gain and phase compensation module configured to perform a gain compensation and a phase compensation on the filtered final voltage command to generate a compensated final voltage command; and an error detection module configured to determine an offset of the compensated final voltage command in a stator reference frame.

Abstract: A system for detecting handwheel control comprises a driver torque estimation module that estimates a driver torque state based on a plurality of electric power steering signals; and a grip detection module that determines one of a grip level, a hands-on wheel flag, and a transition blending factor from the driver torque state, the grip level is used to control a driver assist power steering system.

Abstract: [Problem] An object of the present invention is to provide a motor control unit that the heat generation of FETs is not concentrated in one FET and the heat generation is distributed to the plural FETs by operating the duties of all three-phases in a case that the driving of the motor is stopped.

Abstract: An electric power steering apparatus includes a motor for applying assist torque to a vehicle steering mechanism and a controller, which controls driving of the motor to cause the assist torque to follow an assist command value. The controller calculates a basic assist command value based on steering torque applied to the steering mechanism and corrects the basic assist command value using a correction value, thereby setting the assist command value. If the steering torque has an absolute value greater than a threshold value when the vehicle is in a straight-line traveling state, the controller sets the correction value such that the absolute value of the steering torque is reduced. If the steering torque has an absolute value less than the threshold value when the vehicle is in a straight-line traveling state, the controller sets the correction value such that the absolute value of the assist command value is reduced.

Abstract: A method for a vehicle, comprising: following a vehicle-off event, waking a powertrain control module based on a comparison of an ambient temperature and a bulk fuel temperature; and then initiating an evaporative emissions system leak test. In this way, the evaporative emission leak test may be initiated without waking the powertrain control module arbitrarily. By waking the powertrain control module and initiating the test based on ambient and bulk fuel temperatures the execution rate of the leak test can be increased.

Abstract: An electric bike is described and includes an air speed sensor to sense air speed at the bike, an electric motor to impart motive force to the bike, and a controller operatively connected to the motor, the controller to control the electric motor using the air speed sensed by the air speed sensor. The controller includes a set electric-motor parameter for the output power of the motor. The electric-motor parameter can be bike speed. The controller can also use ground inclination to determine the power to be output by the motor to assist in powering the bike. The controller can use ground inclination to determine the power to be output by the motor to charge a battery in the bike. The controller can set the power of motor assist to be greater in a greater headwind than in a lighter headwind. The controller uses rider weight and rider height as parameters for controlling the motor.

Abstract: An electric power steering control device, in which a control response capability in a low speed region can be improved, and a noise and a vibration can be suppressed, is provided. Although a control amount setter of the electric power steering control device performs a PI control computing in accordance with a deviation between a target current and an actual current, the control amount setter includes a gain setter which varies a gain of a proportion term in accordance with the deviation and a vehicle speed, and a control amount is computed in an integration term by using a predetermined constant gain.

Abstract: An electric power steering device includes a steering angle reference yaw rate calculation section that calculates a steering angle reference yaw rate by using a speed of a vehicle and a steering angle of a steering wheel, a torque estimation device that estimates a self-aligning torque (SAT) generated in a turning wheel of the vehicle on the basis of a measured yaw rate or the steering angle reference yaw rate, the absolute value of which is smaller, and the speed of the vehicle, and estimates a required assist torque on the basis of the estimated SAT, and an abnormality determination section that determines whether or not a steering torque sensor is abnormal. If the steering torque sensor is abnormal, an EPS control device controls drive of an assist motor using the required assist torque estimated by the torque estimation device, in place of a steering torque.