A driving assistance control device outputs a driving assistance command value to a steering control device as information indicating a target course that is generated on the basis of the detection result of a vehicle-mounted sensor. The driving assistance command value is output as a torque component or an angle component depending on the design of the driving assistance control device. In response, processing in which a driving assistance command value input from the exterior of the steering control device is used as input for angle control processing or input for torque control processing within an assist command value calculation unit is performed by a microcomputer as assistance command value input processing by an assistance command value input processing unit.

A method for “hands-on” identification on a steering system having two subsystems connected to one another by an elastic connection. The elastic connection has a static friction state and a sliding friction state for a respective set of external state variables. The steering system is excited by an excitation vibration, which is generated by a controllable vibration generator and has a respective excitation amplitude and a respective excitation frequency, for a respective set of external state variables, in which the respective excitation amplitude and the respective excitation frequency for the currently present set of external state variables are taken from a prescribed table and the vibration generator is controlled with them. A reaction torque to the excitation vibration is measured using a sensor. A phase difference between the excitation vibration and the reaction torque is calculated to identify a “hands-off” state as well as a “hands-on” state.

A method for “hands-on” identification on a steering system having two subsystems connected to one another by an elastic connection. The elastic connection has a static friction state and a sliding friction state for a respective set of external state variables. The steering system is excited by an excitation vibration, which is generated by a controllable vibration generator and has a respective excitation amplitude and a respective excitation frequency, for a respective set of external state variables, in which the respective excitation amplitude and the respective excitation frequency for the currently present set of external state variables are taken from a prescribed table and the vibration generator is controlled with them. A reaction torque to the excitation vibration is measured using a sensor. A phase difference between the excitation vibration and the reaction torque is calculated to identify a “hands-off” state as well as a “hands-on” state.

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 method for detecting the presence of a driver's hands on the steering wheel of a motor vehicle is described. By means of a mathematical model, at least one part of a steering system of the motor vehicle is modeled. In addition, a rotational angle of a lower end and/or an upper end of a torsion bar of the steering system is determined. A torque acting on the torsion bar is determined by means of a measuring device and a total torque acting on the steering wheel and a rotational angle acceleration of the steering wheel are estimated by means of a Kalman Filter.

A method for detecting the presence of a driver's hands on the steering wheel of a motor vehicle is described. By means of a mathematical model, at least one part of a steering system of the motor vehicle is modeled. In addition, a rotational angle of a lower end and/or an upper end of a torsion bar of the steering system is determined. A torque acting on the torsion bar is determined by means of a measuring device and a total torque acting on the steering wheel and a rotational angle acceleration of the steering wheel are estimated by means of a Kalman Filter.

An electric power steering device and method are disclosed. An electric power steering device according to an embodiment of the present invention comprises: a steering motor comprising a first winding and a second winding, each of Which receives applied three-phase power; a first control unit for controlling power supplied to the first winding; and a second control unit for controlling power supplied to the second winding, wherein, when one of a phase of the first winding and a phase of the second winding has failed to be opened, the control unit controlling the winding including the phase that has failed to be opened, among the first control unit and the second control unit, performs torque compensation control for additional output of compensation torque.

An electric power steering device and method are disclosed. An electric power steering device according to an embodiment of the present invention comprises: a steering motor comprising a first winding and a second winding, each of Which receives applied three-phase power; a first control unit for controlling power supplied to the first winding; and a second control unit for controlling power supplied to the second winding, wherein, when one of a phase of the first winding and a phase of the second winding has failed to be opened, the control unit controlling the winding including the phase that has failed to be opened, among the first control unit and the second control unit, performs torque compensation control for additional output of compensation torque.

The steering control device includes an automatic steering controller that generates an automatic steering control amount and a manual steering controller that generates a manual steering control amount, and selects either one of an automatic steering mode and a manual steering mode to control an electric motor. When steering torque exceeds a predetermined value during the control in the automatic steering mode, the manual steering controller generates a manual steering control amount change based on the change in the manual operation amount with reference to the time of exceeding, generates the manual steering control amount based on the steering torque, controls the electric motor based on a control amount obtained by adding the manual steering control amount change to the automatic steering control amount at the time of exceeding, and then controls the electric motor in the manual steering mode.

The steering control device includes an automatic steering controller that generates an automatic steering control amount and a manual steering controller that generates a manual steering control amount, and selects either one of an automatic steering mode and a manual steering mode to control an electric motor. When steering torque exceeds a predetermined value during the control in the automatic steering mode, the manual steering controller generates a manual steering control amount change based on the change in the manual operation amount with reference to the time of exceeding, generates the manual steering control amount based on the steering torque, controls the electric motor based on a control amount obtained by adding the manual steering control amount change to the automatic steering control amount at the time of exceeding, and then controls the electric motor in the manual steering mode.