An actuator of a steering system having a housing (2), a spindle drive arranged in the housing (2) which includes an axially movable spindle (5) that engages with a spindle nut (6) mounted in a fixed position. The spindle has at least one fastening end (8, 9), and at least one bearing journal (10, 11) arranged and able to move in the housing (2). The journal is connected to the at least one fastening end (8, 9) of the spindle (5), with at least one joint connection component (3, 4) which is arranged outside the housing (2) and is connected to the at least one bearing journal (10, 11). The at least one bearing journal (10, 11, 110) has a constriction (10v, 11v) that forms a flexible zone (122).

An object of the present invention is to reduce an inductance of a power circuit, reduce a switching loss and a noise level and improve a voltage-use ratio of a battery power in a redundant-type electronic control device.

An electronic control device that controls a motor has power modules 11a, 11b to drive the motor. Power terminals 32pua, 32pva and 32pwa of the power module 11a are arranged in positions that are close to and face power terminals 32nub, 32nvb and 32nwb of the power module 11b, which are opposite to the power terminals 32pua, 32pva and 32pwa of the power module 11a in polarity. Power terminals 32nua, 32nva and 32nwa drawn from a longitudinal end portion 311 of the power module 11a are arranged in positions that are close to and face power terminals 32pub, 32pvb and 32pwb drawn from a longitudinal end portion 311 of the power module 11b which are opposite to the power terminals 32nua, 32nva and 32nwa of the power module 11a in polarity.

Aspects of the present invention relate to a control system for controlling generation of a road edge assist steering torque at a steering wheel of a host vehicle. The control system includes one or more controllers. The control system is configured to determine a first width representing a width of a first lane of travel. The determined first width is compared to a predefined first threshold. The control system is configured to control generation of the road edge assist steering torque in dependence on the comparison of the first width and the first threshold. Aspects of the present invention also relate to a vehicle having a control system; and a method of controlling generation of a road edge assist steering torque.

[Problem]

An object of the present invention is to provide an electric power steering apparatus that achieves desired steering feeling by controlling a column angle to follow a value corresponding to a steering angle and vehicle information, and that is not affected by variations in manufacturing, changes due to aging or the like of a vehicle and a steering system.

[Means for Solving the Problem]

An electric power steering apparatus that calculates a current command value based on at least a steering torque, and assists and controls a steering system by driving a motor based on the current command value, comprises a target column angle calculating section that calculates a target column angle based on a steering angle and vehicle information, and a column angle control section that calculates the current command value based on the target column angle and a detected actual column angle; and performs angle control of making a column angle a value corresponding to the steering angle and the vehicle information.

Vehicle state information is input, and a control amount, which is control state information, is calculated from the vehicle state information to control a controlled device. A control state is monitored by a monitor unit, and an abnormality is detected based on a state where the vehicle state information or the control state information exists in an abnormality region in which the vehicle state information or the control state information has not reached a failure region corresponding to a failure. The vehicle state information, the control state information, and monitor information are stored in a buffer for a period set in advance while always updating the latest vehicle state information, control state information, and monitor information. When the abnormality is detected, the above respective information before and after the abnormality detection including the information stored in the buffer are stored in a nonvolatile storage unit.

Vehicle state information is input, and a control amount, which is control state information, is calculated from the vehicle state information to control a controlled device. A control state is monitored by a monitor unit, and an abnormality is detected based on a state where the vehicle state information or the control state information exists in an abnormality region in which the vehicle state information or the control state information has not reached a failure region corresponding to a failure. The vehicle state information, the control state information, and monitor information are stored in a buffer for a period set in advance while always updating the latest vehicle state information, control state information, and monitor information. When the abnormality is detected, the above respective information before and after the abnormality detection including the information stored in the buffer are stored in a nonvolatile storage unit.

A control unit for driving a motor mainly includes an input circuit for inputting various kinds of information pieces, an output circuit for driving the coil windings of the motor, an MPU for calculating a control amount based on the information from the input circuit and outputting a control signal to the output circuit; the control unit has two pieces each of the input circuit, the output circuit, and the, and can supply respective electric currents to the windings of the motor or can cut off the supply; the MPUs each have a CPU incorporated therein, a trigger circuit for a trigger signal having a predetermined period; the two CPUs synchronize at least control commands in accordance with the trigger signal and output the control commands.

A three wheeled vehicle is disclosed having a radiator positioned forward of an engine and coupled to the engine for cooling the engine. A front radiator shroud is positioned over the radiator on a front side and a rear radiator shroud is positioned over the radiator on a rear side. The rear radiator shroud has a rear baffle plate directing air downwardly and under the operator's compartment.

Technical features are described for a steering system to compute a state flag value that is indicative of a vehicle motion state, such as an understeer or an oversteer condition. The steering system further generates a reference torque signal based on the state flag value, and generates a motor-assist torque signal based on the reference torque signal. The state flag value indicates the vehicle motion state in both a dynamic-state or a steady-state. Further, the steering system generates the reference torque signal based on the state flag value by blending a first rack force generated based on a vehicle-speed signal and motor angle, and a second rack force generated based on a motor torque and an input torque provided to a handwheel of the steering system.

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.