A computer includes a processor and a memory storing instructions executable by the processor to actuate a steering system of a vehicle to perform a lane-keeping operation, cease the lane-keeping operation upon receiving a takeover request, determine that the takeover request has occurred upon detecting that a torque applied to a steering wheel exceeds a torque threshold, determine that the vehicle is traveling over a road disturbance or will travel over a road disturbance within a time threshold based on receiving map data indicating a location of the road disturbance, and increase the torque threshold upon determining that the vehicle is traveling over the road disturbance or will travel over the road disturbance within the time threshold. The lane-keeping operation includes steering the vehicle without operator input.

A steering device includes: an electric motor configured to apply a driving force to cause a wheel of a vehicle to roll; a transmission unit configured to transmit the driving force of the electric motor to the wheel; an input determination unit 221 configured to determine whether an excessive external force equal to or greater than a predetermined force is input, or likely to be input, to the transmission unit via the wheel while the electric motor is applying the driving force; and a final target current setting unit 23 configured to, in response to the input determination unit 221 determining that the excessive force is input, or likely to be input, to the transmission unit, reduce the driving force of the electric motor so that a load on the transmission unit does not exceed an upper limit that is preset according to strength of the transmission unit.

An electric power steering device 100 includes: an electric motor 110 configured to apply a driving force to steer a wheel in response to operation of a steering wheel; and a control device 10 configured to perform control of drive of the electric motor by estimating a degree of sloping in a transverse direction of a roadway on which a vehicle travels, determining, based on the estimated degree of sloping, a correction current for correcting a target current required for the electric motor to generate the driving force, and correcting the target current with the correction current.

An electric power steering device 100 includes: an electric motor 110 configured to apply a driving force to steer a wheel in response to operation of a steering wheel; and a control device 10 configured to perform control of drive of the electric motor by estimating a degree of sloping in a transverse direction of a roadway on which a vehicle travels, determining, based on the estimated degree of sloping, a correction current for correcting a target current required for the electric motor to generate the driving force, and correcting the target current with the correction current.

The vehicle control device of the present invention acquires characteristics of a road condition in front of a traveling vehicle based on external information; acquires vehicle behavior control variables for controlling the behavior of the vehicle based on estimated state variables of the vehicle that are obtained based on the characteristics, and control variables concerning speed of the vehicle based on the external information; acquires trajectory tracking control variables for causing the vehicle to track the target trajectory based on the target trajectory on which the vehicle travels that are obtained based on the characteristics and the estimated state variables; and outputs the control commands for controlling the suspension device, steering device, and braking and driving device based on the vehicle behavior control variables and the trajectory tracking control variables. This improves travel stability of the vehicle on a road surface on which an irregularity such as ruts exists.

The invention relates to a method of controlling steering of a vehicle (1), comprising the steps of: acquiring (S1) a signal indicative of a driver request indicative of a desired wheel angle of a turnable vehicle wheel (5); determining (S2), based on the signal indicative of the driver request, a control signal for an actuator (13) coupled to the turnable vehicle wheel to achieve the desired wheel angle; controlling (S3) the actuator (13) using the control signal; detecting (S4) an abrupt wheel disturbance event; and in response to detecting the abrupt wheel disturbance event: acquiring (S5), from a lane detecting arrangement (19), a signal indicative of a lane curvature ahead of the vehicle (1); and controlling (S6) the actuator (13) based on the lane curvature ahead of the vehicle (1).

The invention relates to a method of controlling steering of a vehicle (1), comprising the steps of: acquiring (S1) a signal indicative of a driver request indicative of a desired wheel angle of a turnable vehicle wheel (5); determining (S2), based on the signal indicative of the driver request, a control signal for an actuator (13) coupled to the turnable vehicle wheel to achieve the desired wheel angle; controlling (S3) the actuator (13) using the control signal; detecting (S4) an abrupt wheel disturbance event; and in response to detecting the abrupt wheel disturbance event: acquiring (S5), from a lane detecting arrangement (19), a signal indicative of a lane curvature ahead of the vehicle (1); and controlling (S6) the actuator (13) based on the lane curvature ahead of the vehicle (1).

A method for automatically guiding a track of a vehicle which includes at least two wheels on each vehicle side and a track guidance system which is able to detect at least one lane groove within a driving lane, the method including influencing a track guidance of the vehicle as a function of a detection of the at least one lane groove, wherein the track guidance system includes a lane groove following mode in which the track guidance of the vehicle is influenced by the track guidance system after the at least one lane groove has been detected so that the vehicle follows the at least one detected lane groove in that at least two wheels at least at one vehicle side are caused to overlap the at least one detected lane groove.

A steering control system includes a central processing unit. The central processing unit calculates a plurality of types of axial forces acting on the turning shaft based on a state quantity. The central processing unit calculates a distributed axial force which is used to calculate the command value by summing the plurality of types of axial forces at predetermined distribution proportions. The central processing unit calculates the axial forces to have hysteresis with change of the state quantity. The hysteresis of each axial force is adjusted to approach hysteresis of one specific axial force out of the plurality of types of axial forces.

A steering control system includes a central processing unit. The central processing unit calculates a plurality of types of axial forces acting on the turning shaft based on a state quantity. The central processing unit calculates a distributed axial force which is used to calculate the command value by summing the plurality of types of axial forces at predetermined distribution proportions. The central processing unit calculates the axial forces to have hysteresis with change of the state quantity. The hysteresis of each axial force is adjusted to approach hysteresis of one specific axial force out of the plurality of types of axial forces.