An electric power steering apparatus has a rotation detection device that can recover from abnormalities in calculating an absolute angle. The rotation detection device includes a signal acquirer that acquires a mechanical angle and a count value from a sensor, and an absolute angle calculator that calculates an absolute angle based on the mechanical angle and the count value. The rotation detection device further includes an abnormality determiner that determines abnormalities in the calculation of the absolute angle. The absolute angle calculator stores an absolute angle hold value prior to the detection of the abnormality the absolute angle. When the abnormality of the absolute angle is resolved, the absolute angle calculator calculates a recovery-time absolute angle, and returns to a normal-time absolute angle calculation.

A control device includes an electronic control unit. The electronic control unit determines a right steering command value and a left steering command value. The electronic control unit acquires path information indicating a target path for the vehicle. The electronic control unit corrects a steering command value such that the vehicle travels along the target path. The electronic control unit corrects the right steering command value and the left steering command value so as to bring the distribution ratio between a skid angle of a right steered wheel and a skid angle of a left steered wheel to a target distribution ratio.

A turning device includes: a motor configured to generate a drive force for independently steering a steered wheel; a speed reducer connected to a rotary shaft body of the motor; and a brake configured to suppress transfer of torque between the motor and the speed reducer.

A motor controller is disclosed. A motor controller according to one embodiment of the present invention comprises a first electronic control unit (ECU) which comprises a first substrate having a first length and controls a motor, a connector which is connected to one end portion of one longitudinal side of the first substrate to transmit power and a signal to the first ECU, a second ECU which comprises a second substrate having a second length shorter than the first length and including one surface facing one surface of the first substrate and controls the motor, and a connection element which is disposed to connect the first ECU and the second ECU in a circuit and transmits the power and the signal to the second ECU.

An end determination unit determines that a steering apparatus is in an end touching state when an angle deviation, which is a difference between an actual turning angle and a target turning angle, exceeds a threshold. This angle deviation exceeds the threshold before a large axial force is generated in a steering shaft. Accordingly, is it possible to determine that the steering apparatus is in the end touching state more quickly.

A shock-absorbing member comprises held sections located at a plurality of locations in a circumferential direction and comprising paired held sections and non-paired held sections, and is constructed to have a non-circular cylindrical shape in cross-section. Portions where outer-diameter side end sections of held sections that are adjacent to each other in the circumferential direction are made continuous by way of outer-diameter side cover sections, and portions where inner-diameter side end sections of held sections that are adjacent to each other in the circumferential direction are made continuous directly or by way of inner-diameter side cover sections, in an alternating sequence in the circumferential direction. Drive-side arm sections are placed between the non-paired held sections, driven-side arm sections are placed between the paired held sections, and the outer circumferential surfaces of the drive-side arm sections are covered by the outer-diameter side cover sections.

A shock-absorbing member comprises held sections located at a plurality of locations in a circumferential direction and comprising paired held sections and non-paired held sections, and is constructed to have a non-circular cylindrical shape in cross-section. Portions where outer-diameter side end sections of held sections that are adjacent to each other in the circumferential direction are made continuous by way of outer-diameter side cover sections, and portions where inner-diameter side end sections of held sections that are adjacent to each other in the circumferential direction are made continuous directly or by way of inner-diameter side cover sections, in an alternating sequence in the circumferential direction. Drive-side arm sections are placed between the non-paired held sections, driven-side arm sections are placed between the paired held sections, and the outer circumferential surfaces of the drive-side arm sections are covered by the outer-diameter side cover sections.

A sensor device for a steering actuator, the sensor device may include: a pinion shaft mounted on a housing part; a first pinion gear integrated with the pinion shaft by injection molding; and a sensor unit coupled to the first pinion gear.

Provided is a control device for a steer-by-wire steering mechanism, the control device including: a tire lateral force detection unit configured to detect tire lateral forces acting on left and right wheels; and a toe angle control unit configured to control toe angles of left and right wheels independently of each other such that the detected tire lateral forces become target lateral forces. Not during deceleration, the toe angle control unit sets target lateral forces FLt and FRt such that the total sum of the left and right target lateral forces is not changed and the total sum of absolute values thereof is decreased, and during deceleration, the toe angle control unit sets the target lateral forces FLt and FRt such that straight traveling stability can be obtained.

A sensor device, such as a torque sensor, of a motor control device or an electric power steering apparatus includes a sensor section that detects a quantity of state of a detection subject and outputs a detection signal corresponding to the detected quantity of state. When receiving a specific trigger transmitted from an external device, the sensor section outputs an abnormality diagnosis signal, which is configured by a predetermined waveform and used for determining whether there is an output abnormality of the sensor section, and then outputs the detection signal.