A steering system for a vehicle according to an example in the present disclosure includes a steering mechanism, which is mechanically disconnected from the steering wheel, to cause a turning wheel to be turned by a turning motor, and a control device that provides a motor command value to the turning motor. The control device has a control system including a feed-forward model for converting a target turning angle to a feed-forward value of a motor command value, and a disturbance observer including a inverse model of a model of a steering motor. Transfer functions respectively describing the feed-forward model and the model of the disturbance observer include a variable coefficient. The control device changes the variable coefficient based on information about road reaction force.

A steering system for a vehicle according to an example in the present disclosure includes a steering mechanism, which is mechanically disconnected from the steering wheel, to cause a turning wheel to be turned by a turning motor, and a control device that provides a motor command value to the turning motor. The control device has a control system including a feed-forward model for converting a target turning angle to a feed-forward value of a motor command value, and a disturbance observer including a inverse model of a model of a steering motor. Transfer functions respectively describing the feed-forward model and the model of the disturbance observer include a variable coefficient. The control device changes the variable coefficient based on information about road reaction force.

A steering control system includes a steering-motor for turning wheels, a reaction-force-motor for applying a reaction torque to a steering of the vehicle, and a controller. The controller calculates a turning angle based on a first-characteristic representing a relationship of the turning angle to a steering angle, and calculates a reaction torque based on a second-characteristic representing a relationship of a reaction torque to the steering angle. The controller changes the first-characteristic from a characteristic corresponding to a first-state to a characteristic corresponding to a second-state in response to a change in the state of the vehicle from the first-state to the second-state. The controller maintains the second-characteristic at the characteristic corresponding to the first-state when the state of the vehicle changes from the first-state to the second-state in the case where the steering angle is steered to a steering limit corresponding to an upper limit of the turning angle.

A steering control system includes a steering-motor for turning wheels, a reaction-force-motor for applying a reaction torque to a steering of the vehicle, and a controller. The controller calculates a turning angle based on a first-characteristic representing a relationship of the turning angle to a steering angle, and calculates a reaction torque based on a second-characteristic representing a relationship of a reaction torque to the steering angle. The controller changes the first-characteristic from a characteristic corresponding to a first-state to a characteristic corresponding to a second-state in response to a change in the state of the vehicle from the first-state to the second-state. The controller maintains the second-characteristic at the characteristic corresponding to the first-state when the state of the vehicle changes from the first-state to the second-state in the case where the steering angle is steered to a steering limit corresponding to an upper limit of the turning angle.

A control device for a vehicle equipped with a steering system including a steering wheel (13), a rack (12) for steering the wheels (4) of the vehicle, and a redundant arrangement for transmitting a displacement of the steering wheel to the rack, wherein upon detecting a failure in the redundant arrangement, the control device sets an upper limit speed to a first value in a first stage, and changes the upper limit speed from the first value to a second value smaller than the first value in a progressive manner in a second stage that follows the first stage.

A control device for a vehicle equipped with a steering system including a steering wheel (13), a rack (12) for steering the wheels (4) of the vehicle, and a redundant arrangement for transmitting a displacement of the steering wheel to the rack, wherein upon detecting a failure in the redundant arrangement, the control device sets an upper limit speed to a first value in a first stage, and changes the upper limit speed from the first value to a second value smaller than the first value in a progressive manner in a second stage that follows the first stage.

The present disclosure relates to a method and an apparatus for controlling a steering system, and more particularly, to a method and an apparatus for adjusting an operation mode of a steering system according to the degree by which a steering wheel is stowed or the degree by which the steering wheel is folded.

The present disclosure relates to a method and an apparatus for controlling a steering system, and more particularly, to a method and an apparatus for adjusting an operation mode of a steering system according to the degree by which a steering wheel is stowed or the degree by which the steering wheel is folded.

A method includes obtaining steering data of the vehicle from one or more steering sensors, determining whether the vehicle is operating in one of a turning state and a non-turning state based on the steering data, performing a localization routine based on a first echo set of the 3D data points from among the plurality of 3D data points when the vehicle is operating in the turning state, and performing the localization routine based on a second echo set of the 3D data points from among the plurality of 3D data points when the vehicle is operating in the non-turning state, where a number of the plurality of 3D data points of the first echo set is greater than a number of the plurality of 3D data points of the second echo set.

A method includes obtaining steering data of the vehicle from one or more steering sensors, determining whether the vehicle is operating in one of a turning state and a non-turning state based on the steering data, performing a localization routine based on a first echo set of the 3D data points from among the plurality of 3D data points when the vehicle is operating in the turning state, and performing the localization routine based on a second echo set of the 3D data points from among the plurality of 3D data points when the vehicle is operating in the non-turning state, where a number of the plurality of 3D data points of the first echo set is greater than a number of the plurality of 3D data points of the second echo set.