In a rotary electric machine having an integrated drive control device, a motor housing joined to a mounting housing, which is a cast member, is made of a steel material. Therefore, an outer diameter is reduced and strength for retaining a stator core is satisfactorily ensured even under high-temperature environments.

A parking assist system parks a vehicle at a target parking position by automatically steering an EPS. The parking assist system includes a acquiring unit configured to acquire the position of the vehicle, a position determining unit configured to determine the target parking position, a generating unit configured to generate a path from the position of the vehicle to the target parking position, a detecting unit configured to detect the temperature of the EPS, and a assist unit configured to automatically steer the vehicle so as to move along the path generated by the generating unit. The generating unit generates a path in which a degree of stationary steering by which the vehicle is steered in a state where the vehicle stops is small when the temperature of the EPS is high, compared with when the temperature of the EPS is low.

The steering control device includes: current command value 1 calculation unit 11 which determines current command value 1 based on a vehicle speed and a steering torque; current command value 2 calculation unit 14 which determines current command value 2 based on a filtered differential value of the steering torque; and current drive unit 10 which drives motor 5 so that the value of the motor current matches the sum of current command values 1 and 2. When a first crossover frequency represents the crossover frequency of control open loop characteristics in the steering control device as obtained when current command value 2 is determined using a differential value of the steering torque which has not been filtered, the notch frequency of the notch filter is set to be greater than the mechanical resonance frequency of the steering control device and smaller than the first crossover frequency.

With an object of allowing steering wheel operation to be carried out easily at a normal time and when an abnormality occurs, the invention includes a motor having two windings and a control unit having two control systems that supply control signals to each winding of the motor and when an abnormality occurs in one winding of the motor or in one system inside the control unit, a supply of current to the winding in which the abnormality has occurred is cut to zero, and the motor is driven by a predetermined current necessary at a normal time being supplied to the other winding, while at a time of a normal drive when no abnormality has occurred, the current supply is shared between the two windings, whereby the motor is driven.

Disclosed herein are systems and methods that describe systems and method for detecting operator contact with a steering wheel of a vehicle. The system can include: a steering wheel, a drive motor coupled to the steering wheel, and a drive motor controller that controls the operation of the drive motor. The drive motor controller can detect contact between the operator and the steering wheel. In one aspect, the systems and methods can be used to alert the operator of the vehicle when operator contact with the steering wheel is not detected.

An electric power steering apparatus has a rotation detection device for calculating an absolute angle that includes a sensor section that detects a rotation of a motor and outputs a mechanical angle and a count value. The rotation detection device also includes a signal acquisition unit that obtains the mechanical angle and the count value from the sensor section, and an absolute angle calculator that calculates an absolute angle based on the mechanical angle and the count value. Where one rotation of the motor is divided into indefinite regions and definite regions, the absolute angle calculator uses the count value from the definite regions to calculate the absolute angle.

An electric power steering apparatus has a rotation detection device that can recover from abnormalities in calculating an absolute angle. The rotation detection device includes a signal acquirer that acquires a mechanical angle and a count value from a sensor, and an absolute angle calculator that calculates an absolute angle based on the mechanical angle and the count value. The rotation detection device further includes an abnormality determiner that determines abnormalities in the calculation of the absolute angle. The absolute angle calculator stores an absolute angle hold value prior to the detection of the abnormality the absolute angle. When the abnormality of the absolute angle is resolved, the absolute angle calculator calculates a recovery-time absolute angle, and returns to a normal-time absolute angle calculation.

A turning device includes: a motor configured to generate a drive force for independently steering a steered wheel; a speed reducer connected to a rotary shaft body of the motor; and a brake configured to suppress transfer of torque between the motor and the speed reducer.

Provided is a control device for a steer-by-wire steering mechanism, the control device including: a tire lateral force detection unit configured to detect tire lateral forces acting on left and right wheels; and a toe angle control unit configured to control toe angles of left and right wheels independently of each other such that the detected tire lateral forces become target lateral forces. Not during deceleration, the toe angle control unit sets target lateral forces FLt and FRt such that the total sum of the left and right target lateral forces is not changed and the total sum of absolute values thereof is decreased, and during deceleration, the toe angle control unit sets the target lateral forces FLt and FRt such that straight traveling stability can be obtained.

A motor control device includes a motor drive circuit and a microcomputer that controls the drive circuit. The microcomputer generates a control signal on the basis of duty command values Du, Dv, and Dw to control the drive circuit. The microcomputer includes a dead time compensation section that corrects the duty command values Du, Dv, and Dw on the basis of dead time compensation values Ddu, Ddv, and Ddw. The dead time compensation section includes a basic compensation value computation section that computes a basic compensation value Dd as a fundamental value of the dead time compensation values Ddu, Ddv, and Ddw, and a filter section that performs a filtering process corresponding to a low-pass filter on the basic compensation value Dd. The dead time compensation section sets the dead time compensation values Ddu, Ddv, and Ddw on the basis of an output value α from the filter section.