A control section of a steering controller calculates a steer angle which is a turning angle of a first column shaft based on a first detection value detected by a steer angle sensor, and calculates a second shaft turning angle which is a turning angle of a second column shaft based on a second detection value detected by a second shaft rotation angle sensor. A steering torque detection value is calculated based on a third detection value detected by a torque sensor. An abnormality determination part determines abnormalities of the steering torque detection value based on the steer angle and the second shaft turning angle. Thereby, abnormalities of the steering torque detection value are detected without multiplexing the steering torque detection value. Further, if the steering torque detection value is multiplexed, an abnormal steering torque detection value can be specifically identified.

An electronic control device controls an electronic power steering apparatus including a motor configured to assist steering of a steering wheel provided in a vehicle and a torque sensor configured to detect a steering torque applied to the steering wheel. The electronic control device includes: a torque current control unit that sets a first current command value to be supplied to the motor according to a value of the steering torque applied to the steering wheel; a differential control unit that calculates a torque differential value as a differential value of the steering torque and sets a second current command value according to the torque differential value and a rotation speed of the motor; and a command value calculation unit that calculates a motor current command value to be supplied to the motor based on the first current command value and the second current command value.

A steer-by-wire steering apparatus comprises a plurality of locking projections that project radially outward of a upper shaft; a rotation range limiting projection that is fixed to the upper shaft and has an engaged portion located on the radially outer side of outer peripheral ends of the locking projections; a radially movable lock member that is located on the radially outer side than the locking projections when a drive source switch is ON, and has at least a part located at the same radial position as the locking projections when the switch is OFF; and a rotation range limiting member that has at least a part located at the same radial position as the engaged portion regardless of whether or not a steering actuator that changes steered angle of steered wheels is in an operable state when the switch is at least ON.

A steer-by-wire steering apparatus comprises a plurality of locking projections that project radially outward of a upper shaft; a rotation range limiting projection that is fixed to the upper shaft and has an engaged portion located on the radially outer side of outer peripheral ends of the locking projections; a radially movable lock member that is located on the radially outer side than the locking projections when a drive source switch is ON, and has at least a part located at the same radial position as the locking projections when the switch is OFF; and a rotation range limiting member that has at least a part located at the same radial position as the engaged portion regardless of whether or not a steering actuator that changes steered angle of steered wheels is in an operable state when the switch is at least ON.

A driving assistance system performs a driver-initiative normal driving assistance mode as a driving assistance for a vehicle. The system includes a reaction force characteristics change unit configured to change reaction force characteristics of the operation device, if it is determined that the operation amount of the driver is not included in the appropriate operation amount range in the normal driving assistance mode, an explicit risk determination unit configured to determine whether or not an explicit risk is present based on the external environment of the vehicle, and a driving assistance switching unit configured to switch a driving assistance for the vehicle from the normal driving assistance mode to a system-initiative risk avoidance assistance mode, if it is determined by the explicit risk determination unit that the explicit risk is present in the normal driving assistance mode.

According to one or more embodiments, a steer by wire steering system includes a handwheel, and a handwheel actuator configured to secure a position of the handwheel. The securing includes determining a transition of the steer by wire steering system to an ingress/egress mode. The securing further includes, based on the determination that the steer by wire steering system is in the ingress/egress mode, computing a holding torque command based on a difference in a present angle of the handwheel and a target angle of the handwheel, which is caused by an input torque. Further, the securing includes generating a holding torque corresponding to the holding torque command to secure the position of the handwheel.

The vehicle control system is applied as a system of a vehicle mounted with an EPS device having an electric motor driven to control the steering angle. The vehicle control system includes a controller configured to perform steering control for controlling an energization of the electric motor to control the steering angle of the wheels. When the wheels are held after being steered by a specific steering in the steering control, the controller performs a steering return process in which the wheels are turned back and held in a direction opposite to a steering direction of the specific steering. And during a stationary steering-holding in which the steering angle is held and the vehicle is stopped, the controller performs an energization suppression process for reducing energization to the electric motor to be smaller than the energization before the stationary steering-holding.

Disclosed herein is a bearing assembly for a vehicle steering apparatus, which includes a bearing including an inner ring fastened to a rack bar, an outer ring disposed outside the inner ring with a ball interposed therebetween, and a sealing member provided between the inner ring and the outer ring, and an elastic clip including a body pressed against an outer peripheral surface of the outer ring, fastening portions bent toward sides of the outer ring from both ends of the body, and elastic portions extending from respective ends of the fastening portions and protruding laterally of the outer ring to each have a curvature.

The drive apparatus includes a motor, a plurality of substrates, a connector, and a connection terminal. The substrates are provided in one side of the motor in its axial direction. The connector is provided at an opposite side of the motor across the substrates in the axial direction. The connection terminal is connected to the substrates.

The substrates are arranged such that a part of the substrates are overlapped when the substrates are projected in the axial direction. An overlapped region is defined as a region where the part of the substrates are overlapped. The connection terminal penetrates, in the overlapped region, at least a part of the substrates, the connection terminal being connected to the substrates in the overlapped region.

A drive apparatus is provided with a motor, a plurality of substrates and a plurality of connectors.

The substrates are provided in one side of the motor in the axial direction thereof, the substrates including switching elements and control components mounted thereon. The connectors are provided in an opposite side against the motor across the substrates, the connectors including connector terminals connected to one of the substrates.

The substrates include two or more non-overlapped regions where no substrates are overlapped when projecting the substrates in the axial direction. The non-overlapped regions include a connector connecting region connected to the connector terminals, and a motor line connecting region connected to winding groups of the motor corresponding to every phase of each winding group.