An electric power steering apparatus includes a steering mechanism, an electric motor, a torque signal generator, a column angular position signal generator and a signal processing unit. The steering mechanism operatively connects a steering wheel to the road wheels of the vehicle. The electric motor may be operatively connected to the steering mechanism. The torque signal generator may produce a torque signal indicative of the torque carried by a portion of the steering mechanism. The column angular position signal generator may produce a column angle signal indicative of the angular position of the steering wheel or steering column. The signal processing unit may receive the column torque signal and the column angle signal and may produce therefrom a torque demand signal representative of a torque to be applied to the steering mechanism by the motor.

A steering system of a vehicle, including an operation member to be operated by a driver, a steering device configured to steer a wheel, and a controller configured to control the steering system, wherein the controller is configured to parallelly execute a main process including a process in which the controller controls the steering device to perform steering in accordance with an operation of the operation member and an auxiliary process relating to an operation of the steering system and configured to change an execution ratio of the main process and an execution ratio of the auxiliary process.

A control device of a steering device, for a vehicle, which includes left and right steering mechanisms not mechanically coupled to each other, and which steers left and right steered wheels individually by driving force of steering actuators, includes: a steered angle determining unit that determines a target steered angle for each of the left and right steering mechanisms; and a steering command unit that generates drive signals corresponding to the target steered angles, and outputs the drive signals to each of the actuators. When an anomaly occurs in one of the left and right steering mechanisms, the steered angle determining unit sets the target steered angle for the steering mechanisms that is normal to be different from the target steered angle when both the left and right steering mechanisms are normal.

A mobility system includes a mobility module that measures and controls a mobility state of the mobility system and an operation module that receives a movement input of the mobility system. The operation module is configured to identify the mobility state through the mobility module, measure a force or torque depending on the movement input, calculate a restoring torque satisfying a critical velocity or a critical acceleration, based on the mobility state and the measured force or torque, and provide feedback on the movement input depending on the determined restoring torque.

A motor control device includes an inverter to drive a motor, and a control calculator to calculate a current command value indicating a current to be supplied to the motor from the inverter. The control calculator includes a voltage control calculator to calculate a voltage command value indicating a voltage to be applied to the motor from the inverter based on a current deviation between the current command value and the actual current detection value, and a compensation calculator to add a compensation value to a signal value on at least one of an upstream side and a downstream side in a signal flow that passes through the voltage control calculator. The voltage control calculator calculates the voltage command value by adaptive control based on an actual angular velocity value indicating an angular velocity at which the motor rotates. The compensation calculator calculates the compensation value based on the actual angular velocity value and the target current command value.

A steer-by-wire vehicle includes a steering actuator configured to turn a wheel and a reaction actuator configure to apply a torque to a steering wheel. An electronic control unit of a control apparatus for the vehicle is configured to execute normal steering control for turning the wheel and applying a reaction torque to the steering wheel according to a rotation of the steering wheel, and, when an activation condition including that the normal steering control is not needed is satisfied, execute rotation suppression control for suppressing the rotation of the steeling wheel without prohibiting the rotation of the steering wheel. Specifically, the electronic control unit is configured to, based on a steering speed or a steering torque, determine a rotation suppression torque for suppressing the rotation of the steering wheel, and control the reaction actuator such that the rotation suppression torque is applied to the steering wheel.

According to one or more embodiments, a method includes computing, by a steering system, a model rack force value based on a vehicle speed, steering angle, and a road-friction coefficient value. The method further includes determining, by the steering system, a difference between the model rack force value and a load rack force value. The method further includes updating, by the steering system, the road-friction coefficient value using the difference that is determined.

Provided is a control device (14) for a power steering device including a steering mechanism (1) configured to transmit rotation of a steering wheel to a steered wheel, and an electric motor (13) configured to apply a steering force to the steering mechanism. The control device includes: a command signal calculation part (61) configured to calculate a motor command signal (Io) for control of driving of the electric motor, based on a state of steering of the steering wheel, and output the command signal to the electric motor; a vibration signal receiving part (69) configured to receive a vibration signal of the power steering device; and an abnormality determination part (63) configured to determine whether or not the power steering device is abnormal, based on a Y-axis acceleration signal (Gy) received by the vibration signal reception part.

A steering drive system for a steering system of a transportation vehicle having a first control unit for actuating a first winding circuit of a steering drive motor with a test circuit to make available a defined changing test signal and a second control unit for actuating a second winding circuit of the steering drive motor, wherein a test signal reception circuit of the second control unit receives the test signal, and wherein the second control unit actuates the steering drive motor based on the presence or absence of the test signal.

The disclosure proposes a method for ascertaining and/or monitoring a mechanical state of at least one tie rod apparatus of an electrically assisted steering system of a vehicle, wherein at least one operating characteristic variable, which is correlated to a steering movement, of at least one steering actuator and/or of at least one steering controller of the steering system is ascertained and evaluated for ascertaining and/or for monitoring the mechanical state of the tie rod apparatus.