An electric power steering apparatus includes a function to switch a control system of the motor between a torque control system of a torque system to control a motor output torque and a position and speed control system of a steering angle system to control a steering angle of a steering in accordance with an ON/OFF of a post-diagnosis automatic steering command being a judgment result of an automatic steering execution judging section; and a characteristic calculating section to calculate a fade gain signal F1 that applies a first fade characteristic of the torque system, a fade gain signal F2 that applies a second fade characteristic of the steering angle system, and a fade gain signal F3 that applies a third fade characteristic of the steering angle speed, sensitive to the steering torque.

An electric power steering apparatus includes a function to switch a control system of the motor between a torque control system of a torque system to control a motor output torque and a position and speed control system of a steering angle system to control a steering angle of a steering in accordance with an ON/OFF of a post-diagnosis automatic steering command being a judgment result of an automatic steering execution judging section; and a characteristic calculating section to calculate a fade gain signal F1 that applies a first fade characteristic of the torque system, a fade gain signal F2 that applies a second fade characteristic of the steering angle system, and a fade gain signal F3 that applies a third fade characteristic of the steering angle speed, sensitive to the steering torque.

A work machine comprises a work unit that performs work on a travel path, an internal combustion engine configured to generate power for driving the work unit, a traveling unit including a front wheel and a rear wheel, an electric motor configured to generate power for driving a first wheel of the front wheel and the rear wheel, and a first clutch for switching between transmission and discontinuation of the power from the internal combustion engine to a second wheel of the front wheel and the rear wheel.

A driving support control system includes a steering device and a control device. The control device performs a target value calculating process of calculating a target value; a first steering angle calculating process of calculating, as a first steering angle, a steering angle for causing a vehicle motion parameter to coincide with the target value; an actual value calculating process of calculating an actual value of the vehicle motion parameter; a second steering angle calculating process of calculating, as a second steering angle, a steering angle for cancelling out an external force based on a difference value between the actual value and the target value; a target steering angle calculating process of calculating, as a target steering angle, a summed value of the first and second steering angles; and a control process of controlling the steering device so that the steering angle coincides with the target steering angle.

A driving support control system includes a steering device and a control device. The control device performs a target value calculating process of calculating a target value; a first steering angle calculating process of calculating, as a first steering angle, a steering angle for causing a vehicle motion parameter to coincide with the target value; an actual value calculating process of calculating an actual value of the vehicle motion parameter; a second steering angle calculating process of calculating, as a second steering angle, a steering angle for cancelling out an external force based on a difference value between the actual value and the target value; a target steering angle calculating process of calculating, as a target steering angle, a summed value of the first and second steering angles; and a control process of controlling the steering device so that the steering angle coincides with the target steering angle.

A steering device includes: a first steering mechanism including a first ball nut steering, and a first motor actuator, the first ball nut steering including a first output shaft, a first ball screw, and a first transmitting mechanism, the first motor actuator arranged to provide a rotation force to the first output shaft, a second steering mechanism including a second ball nut steering, and a second motor actuator, the second ball nut steering including a second output shaft, a second ball screw, and a second transmitting mechanism, the second motor actuator arranged to provide a rotation force to the second output shaft, a connection member arranged to connect the first transmitting mechanism and the second transmitting mechanism so as to interlock a movement of the first transmitting mechanism and a movement of the second transmitting mechanism.

A steering device includes: a first steering mechanism including a first ball nut steering, and a first motor actuator, the first ball nut steering including a first output shaft, a first ball screw, and a first transmitting mechanism, the first motor actuator arranged to provide a rotation force to the first output shaft, a second steering mechanism including a second ball nut steering, and a second motor actuator, the second ball nut steering including a second output shaft, a second ball screw, and a second transmitting mechanism, the second motor actuator arranged to provide a rotation force to the second output shaft, a connection member arranged to connect the first transmitting mechanism and the second transmitting mechanism so as to interlock a movement of the first transmitting mechanism and a movement of the second transmitting mechanism.

A suspension and traction system is described for a vehicle equipped with a frame and a propulsive element (92) by rolling on the ground. An electric actuator (M3) is used for determining a steering angle () of the propulsive element.

The present invention provides a vehicle control device and method capable of ensuring steering accuracy. In a vehicle provided with a left-right pair of steered wheels for which the braking/driving forces can each be controlled, and a steering force generation device that generates steering force for the steered wheels and controls the steering angle of the steered wheels, this vehicle control device and method control the steering force and the steering reaction force from the steering force generation device by controlling the braking/driving force of each of the steered wheels on the basis of the lateral force acting on the steered wheels.

The present invention provides a vehicle control device and method capable of ensuring steering accuracy. In a vehicle provided with a left-right pair of steered wheels for which the braking/driving forces can each be controlled, and a steering force generation device that generates steering force for the steered wheels and controls the steering angle of the steered wheels, this vehicle control device and method control the steering force and the steering reaction force from the steering force generation device by controlling the braking/driving force of each of the steered wheels on the basis of the lateral force acting on the steered wheels.