An apparatus and method of controlling a motor driven steering system may selectively perform a motor current control of the motor driven steering system for reducing motor noise according to a present motor-applied current applied to a steering motor of the motor driven steering system when it is determined from vehicle speed information or wheel speed information detected by a first sensor that a vehicle is currently in a stopped state and it is determined from steering angle information detected by a second sensor that a steering wheel is currently in a steering wheel holding state.

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

Technical solutions described herein include a method of controlling, in an electric power steering system, a steering angle according to a target steering angle by computing an initial value of an integral control term in a proportional integral derivative (PID) control loop used to calculate a control output signal, such as a motor torque command. The initial value of the integral control term is computed as a negative of the initial value of the feedforward term minus the initial value of the feedback term. The initial value of the integral control term corresponds to an initial value of a control output. Accordingly, the technical solutions described herein facilitate handling non-zero initial condition in Electric Power Steering angle control.

A motor control device includes a torque controller to operate based on a steering torque and to provide an input to a control target that is a motor, and a model following controller to generate a correction torque based on an output from the control target and to correct the input to the control target with the correction torque. A model following controller includes a high-pass filter with a first cutoff frequency and a low-pass filter with a second cutoff frequency larger than the first cutoff frequency. The model following controller is configured or programmed so that a transfer function of a control target is constrained to a nominal model in a frequency band in which a gain in a gain characteristic of Q(s).Math.HPF(s) is 1 where Q(s) is a transfer function of the low-pass filter and HPF(s) is a transfer function of the high-pass filter.

A motor control device includes a torque controller to operate based on a steering torque and to give an input to a control target that is a motor, and a model following controller to generate a first correction torque based on an output from the control target. A model following controller includes a high-pass filter to remove a low frequency component from a first correction torque, a friction compensation calculator that is coupled in parallel to the high-pass filter to apply friction compensation to the first correction torque to calculate an estimated value of a mechanical friction torque, and an adder to add the estimated value of the friction torque to the first correction torque from which the low frequency component is removed by the high-pass filter to generate a second correction torque and feed back the second correction torque to an input to the control target.

A motor control device includes a model following controller to generate a correction torque based on an output from a control target that is a motor, and correct an input to the control target with the correction torque. A model following controller includes a high-pass filter with a first cutoff frequency and a low-pass filter with a second cutoff frequency larger than the first cutoff frequency, and is configured or programmed so that a transfer function of a control target is constrained to a nominal model in a frequency band in which a gain in a gain characteristic of Q(s).Math.HPF(s) is 1 where Q(s) is a transfer function of the low-pass filter and HPF(s) is a transfer function of the high-pass filter.

In case a vehicle speed control is performed in response to a failure in a steer-by-wire steering system, the vehicle is prevented from accelerating following a speed reduction caused by a braking operation of the vehicle operator. The speed limit control limits a traveling speed of the vehicle below an upper limit speed upon detecting a fault in the steering system, and is configured to set a target deceleration of the vehicle according to the limited traveling speed, perform a deceleration control to bring an actual deceleration of the vehicle to become near the target deceleration, and restrict the actual deceleration from changing to an acceleration side in the deceleration control.

A method is for operating a vehicle. The vehicle includes a steering system with at least one steering handle and at least one steering sensor operatively connected to the steering handle and configured to at least detect a driver intervention in an automated drive operating mode. In at least one faulty operating state, in which the vehicle is in the automated drive operating mode and a malfunction and/or a disturbance of the steering sensor is ascertained and/or a steering sensor signal of the steering sensor is ascertained, the steering sensor signal correlating in particular to the driver intervention, an interruption process is initiated in order to discontinue the automated drive operating mode. During the interruption process, at least one wheel steering angle characteristic variable of at least one vehicle wheel of the vehicle is ascertained and taken into consideration while discontinuing the automated drive operating mode.

A method for monitoring an electric steering device of a vehicle while the vehicle is driving, the method including generating a nominal movement direction signal that characterizes a current nominal movement direction of the vehicle and processing the nominal direction movement signal in at least one electronic control device; feeding surroundings data into the at least one electronic control device wherein the surroundings data is generated by a sensor device of the vehicle that scans surroundings of the vehicle touch free, wherein the surroundings data characterizes surroundings of the vehicle and is configured to be processed by a first driver assistance system, wherein the surroundings data facilitates detecting a current actual movement direction of the vehicle; generating an actual movement direction signal by the at least one electronic control device based on the surroundings data wherein the actual movement direction signal characterizes a current actual movement direction of the vehicle.

A work vehicle includes: a body; a traveling apparatus capable of a turning travel; a speed detector capable of detecting a vehicle speed; a steering tool manually operable to steer the traveling apparatus; a notification apparatus; and a controller. The controller is configured or programmed to control the traveling apparatus in response to a manual operation, with use of a travel control module; determine, based on a relationship between the vehicle speed and a steering angle of the steering tool, whether at least one of the vehicle speed and the steering angle needs to be reduced, with use of a determination module; and control the notification apparatus to give a notification of the determination by the determination module, with use of a notification module.