A self-propelled robot includes: a force sensor for detecting a lateral force in a wheel axial direction of each of a left drive wheel and a right drive wheel when a main body travels straight; an acquisition unit that acquires left target speed and right target speed, respectively, for the left drive wheel and the right drive wheel; a correction amount calculation unit that calculates a left correction amount and a right correction amount for the left target speed and the right target speed, respectively, based on the corresponding lateral forces detected by the force sensor; a correction unit that corrects the left target speed and the right target speed, respectively, based on the left correction amount and the right correction amount; and a drive unit that drives the left drive wheel and the right drive wheel, respectively, based on the left target speed and the right target speed corrected by the correction unit.

A vehicle control system installed on a vehicle executes turning control that controls a turning device configured to turn a wheel of the vehicle. The turning control includes: first turning control that generates a target trajectory and makes the vehicle follow the target trajectory; and second turning control that is executed independently of the first turning control without depending on the target trajectory. When the first turning control and the second turning control are executed simultaneously, the vehicle control system determines whether the first turning control counteracts turning by the second turning control. When the first turning control counteracts the turning by the second turning control, the vehicle control system replans the target trajectory by designating at least one of a current position and a current yaw angle of the vehicle as a starting point of the target trajectory.

An electronic steering control apparatus to which a redundancy system is applied and which includes a first position controller and a second position controller. When communication is established between the first and second position controllers, the first position controller controls the position of a first motor based on command steering angles .sub.1 and .sub.2 from a control unit and feedback steering angles .sub.m1 and .sub.m2 from the first motor and a second motor, and the second position controller controls the position of the second motor based on the command steering angles .sub.1 and .sub.2 from the control unit and the feedback steering angles .sub.m1 and .sub.m2 from the first motor and the second motor.

An electronic steering control apparatus to which a redundancy system is applied and which includes a first position controller and a second position controller. When communication is established between the first and second position controllers, the first position controller controls the position of a first motor based on command steering angles .sub.1 and .sub.2 from a control unit and feedback steering angles .sub.m1 and .sub.m2 from the first motor and a second motor, and the second position controller controls the position of the second motor based on the command steering angles .sub.1 and .sub.2 from the control unit and the feedback steering angles .sub.m1 and .sub.m2 from the first motor and the second motor.

An input torque fundamental component computation circuit includes: a torque command value computation circuit that computes a torque command value corresponding to a target value for steering torque that is to be input by a driver for drive torque obtained by adding the steering torque to an input torque fundamental component; and a torque F/B control circuit that computes the input torque fundamental component through execution of torque feedback control for causing the steering torque to follow the torque command value. A target steering angle computation circuit computes a target steering angle on the basis of the input torque fundamental component. A steering-side control circuit computes target reaction force torque on the basis of execution of angle feedback control for causing a steering angle to follow a target steering angle. The torque command value computation circuit computes the torque command value in consideration of the grip state amount.

An input torque fundamental component computation circuit includes: a torque command value computation circuit that computes a torque command value corresponding to a target value for steering torque that is to be input by a driver for drive torque obtained by adding the steering torque to an input torque fundamental component; and a torque F/B control circuit that computes the input torque fundamental component through execution of torque feedback control for causing the steering torque to follow the torque command value. A target steering angle computation circuit computes a target steering angle on the basis of the input torque fundamental component. A steering-side control circuit computes target reaction force torque on the basis of execution of angle feedback control for causing a steering angle to follow a target steering angle. The torque command value computation circuit computes the torque command value in consideration of the grip state amount.

Disclosed is a steer by wire system that includes a controller operable to operate a roadwheel actuator such that a position command to the roadwheel actuator based on a handwheel orientation is a magnitude corresponding to a handwheel orientation offset value in an opposite direction to reduce a difference between the handwheel orientation offset value and a predetermined handwheel zero value.

A vehicle disturbance handling system to handle a disturbance that is an external force that acts on a vehicle and causes deflection of the vehicle, including: a disturbance detecting portion configured to determine an occurrence of the disturbance and to estimate a degree of influence of the disturbance; and a disturbance handling portion configured to handle the disturbance based on the estimated degree, wherein, when it is determined that the disturbance is occurring, the handling portion controls a brake device and a steering device of the vehicle to handle the disturbance, and wherein the handling portion is configured to determine a disturbance-handling braking force, which is a braking force that should be applied to the vehicle by the brake device to reduce the influence of the disturbance, and to gradually decrease the disturbance-handling braking force with a lapse of time from a time point of the occurrence of the disturbance.

A disturbance handling system for a vehicle to handle a disturbance, the disturbance being an external force that acts on the vehicle and causes deflection of the vehicle, including: a disturbance detecting portion configured to determine an occurrence of the disturbance and to estimate a degree of influence of the disturbance; and a disturbance handling portion configured to handle the disturbance based on the estimated degree of influence of the disturbance, wherein, when a deviation of an actual yaw rate from a standard yaw rate is larger than a set threshold, the disturbance detecting portion determines that the disturbance is occurring and increases the set threshold in a situation in which the vehicle is being automatically steered, the standard yaw rate being a yaw rate of the vehicle determined based on a steering operation.

A disturbance handling system for a vehicle to handle a disturbance, the disturbance being an external force that acts on the vehicle and causes deflection of the vehicle, including: a disturbance detecting portion configured to determine an occurrence of the disturbance and to estimate a degree of influence of the disturbance; and a disturbance handling portion configured to handle the disturbance based on the estimated degree of influence of the disturbance, wherein, when a deviation of an actual yaw rate from a standard yaw rate is larger than a set threshold, the disturbance detecting portion determines that the disturbance is occurring and increases the set threshold in a situation in which the vehicle is being automatically steered, the standard yaw rate being a yaw rate of the vehicle determined based on a steering operation.