A steering control device performs an assist control for generating an assist command that generates an assist torque based on a steering torque. The steering control device acquires a target value of physical quantity related to a steering. The steering control device performs a tracking control for generating a tracking command that generates an automatic steering torque for causing a detection value of physical quantity to track the target value.

A rotary electric machine control apparatus is provided which controls energization of a rotary electric machine having a plurality of winding sets. The apparatus includes an energization control circuit that is provided for each of the winding sets and has a switching element related to switching of energization to the winding set, a driver circuit that outputs a drive signal to the switching element through a signal line connected to the switching element, and a protection element that is connected to the signal line and in parallel with the switching element. When combinations of the winding sets and electronic components including the energization control circuit provided for each of the winding sets are regarded as systems, in at least one of the systems, performance of the protection element is differentiated from that in the other system to make noise resistance different from noise resistance in the other system.

A rotary electric machine control device is provided to control a motor having motor winding sets and includes a plurality of inverter circuits and a plurality of control circuits capable of mutual communication. The inverter circuits switch over the current supply to the motor winding sets. The control circuits include driver control sections, which control the inverter circuits provided correspondingly, and abnormality monitor sections, which monitor the abnormality. The abnormality monitor sections monitor the abnormality of the own system and the other system based on the plurality of abnormality information. The driver control sections change a control mode according to the abnormal state. It is thus possible to control the driving of the motor appropriately based on the abnormality state.

An electric steering device includes a motor and a control circuit. The motor applies a steering force to a steering mechanism of a vehicle. The control circuit includes an inverter that converts DC power of a DC power supply to AC power and supplies the AC power to the motor, and a power supply relay that permits or blocks a current flow to the motor through the inverter. In the control circuit, the power supply relay is provided on a ground line connecting the inverter and a ground.

A control apparatus for a multi-phase rotating electric machine includes at least one electric power converter, a command value calculator and an input voltage determiner. The at least one electric power converter converts DC power into multi-phase AC power and supplies the multi-phase AC power to the rotating electric machine. The command value calculator calculates command values for operating the at least one electric power converter. The input voltage determiner determines whether an input voltage of the at least one electric power converter is within a normal operation range. When the input voltage is determined by the input voltage determiner to be outside the normal operation range, the control apparatus switches control to ignore voltage change or current change caused by the reverse input of an external force to the rotating electric machine from a load side or suppress control fluctuation caused by the reverse input of the external force.

The present invention relates to an autonomous driving system and an autonomous steering apparatus. An autonomous steering apparatus includes: a support bracket having a preset volume, and formed at an inner upper portion thereof with a lower reception portion having a groove or hole structure recessed downward by a preset depth; and a steering drive shaft having a preset length, and having a lower end rotatably provided in the lower reception portion and an upper end connected to a steering system of a vehicle.

A steering torque feedback assembly for a vehicle steering column includes a housing, a first gear rotatably mounted within the housing about a first rotatable axis and being configured to rotate with, or being connected to, a vehicle steering column, first and second electric motors mounted within the housing, each having a rotatable output shaft, second and third gears rotatably mounted within the housing and engaged with the first gear, and first and second reduction gearing connecting the output of the first and second motors and a respective one of the second and third gears.

A steering system in a vehicle includes a plurality of subsystems provided with a control unit. The control unit includes a storage unit storing steer angle information regarding a steer angle of one of a steering mechanism and a steered mechanism when the steering mechanism or the steered mechanism stops, an abnormality determiner determining abnormality of the motor rotation detection value and the detection circuit in the plurality of subsystems at a start time of a motor based on a comparison of at least two parameters, and a steer angle calculator calculating the steer angle based on the parameters having been determined by the abnormality determiner as not abnormal.

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.

The present invention relates to a helical toothed belt including: a back portion; a tension member buried in the back portion; and a plurality of tooth portions arranged at a predetermined interval along a belt longitudinal direction on one surface of the back portion, in which the plurality of tooth portions have a tooth pitch of 1.5 mm or more and less than 2.0 mm, the back portion has a thickness of 0.4 mm or more and 1.2 mm or less, the tension member is formed of a twisted cord containing a high-strength glass fiber or a carbon fiber, and the ratio of the total value of an interval between the tension members adjacent to each other to the belt width is 20% or more and 60% or less.