The application relates to a lateral motion control method and system for a vehicle, an automatic driving controller, a steering system, a vehicle, and a storage medium, wherein the lateral motion control method for the vehicle comprises: generating and outputting a steering control command according to a desired track of the vehicle, such that the vehicle moves along an actual track according to the steering control command; determining a vehicle running state, wherein the vehicle running state is generated according to an error value between the desired track and the actual track; and determining whether to stop/limit outputting of the steering control command or not according to the vehicle running state. The lateral motion of the vehicle can be controlled according to the method.

The present disclosure relates to a method for determining a steering hysteresis requirement of a steering device of a vehicle, a steering system, a computer program product and a computer-readable storage medium. The steering device is part of a steering system of the vehicle and is coupled to at least one actuator. The actuator is set up to apply a steering torque to the steering device. The method comprises at least the step of determining the steering hysteresis requirement based on at least one rack force of the steering system. The steering hysteresis requirement forms at least a component of a target steering torque which can be applied to the steering device by the at least one actuator.

A steering control device includes a first control system and a second control system. The first control system includes and a first microcomputer. The first microcomputer is configured to compute a first command value for controlling power supply to a first coil and a second command value for controlling power supply to a second coil. The second control system includes and a second microcomputer. The second microcomputer is configured to compute the first command value and the second command value. The first microcomputer and the second microcomputer are configured to communicate the first command value and the second command value with each other. The cycle of communication between the first microcomputer and the second microcomputer is set to be equal to or shorter than each of the cycles of computations of the first command value and the second command value by the first microcomputer and the second microcomputer.

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 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 embodiments relates to a steering control device and method. Specifically, a steering control device according to the embodiments may include a first steering control module receiving a steering angle of a steering wheel from a steering angle sensor, calculating a position of a rack corresponding to the steering angle, and transmitting the position of the rack to a road wheel actuator (RWA) and a second steering control module to which a control right for the first steering control module is transferred when the first steering control module is determined to have a failure.

An electric multi-mode steer-by-wire system and a mode switching method thereof. The electric multi-mode steer-by-wire system includes a steering hand wheel unit including a steering hand wheel, a road-feeling motor, a reducer and an electromagnetic clutch, a steering execution unit including two steering electric motor mechanisms, a steering gear and two steering road wheels, an electronic control unit configured to control the steering hand wheel unit and the steering execution unit to achieve switching among two-side steering-road-wheel independent steer-by-wire mode, steering-trapezoidal steer-by-wire mode and electric power steering mode, and a mode selection and display unit. The electromagnetic clutch connected to the steering execution unit. The steering electric motor mechanisms drive the steering road wheels to steer independently through lead screw-nut pairs; or respectively form a hydraulic cylinder with the steering gear to jointly or independently drive the steering road wheels to steer with steering-trapezoidal manner.

Each of a plurality of microcomputers outputs a motor drive signal, which is generated based on a current command value and a current limit value as a control amount command value and a control amount limit value, to each motor drive circuit. When an OFF determination of an own microcomputer is made, each microcomputer executes first end processing as a first stage of end processing and transmits an OFF determination signal to the other microcomputer. When the OFF determination signal is received from the other microcomputer, each microcomputer determines that the OFF determination has been made and starts second end processing which gradually decreases the current command value or the current control limit value from a present value. When the second end processing is completed and power-off preparation of the own microcomputer and the other microcomputer is completed, each microcomputer executes final end processing for turning off the power supply relay.

A control device includes control circuits of a plurality of systems. When a transition condition is established, the control circuits of the systems make transition of a driving mode from a first driving mode to a second driving mode, and when a return condition is established in a state in which the driving mode has transitioned to the second driving mode, the control circuits of the systems make transition of the driving mode from the second driving mode to the first driving mode while gradually changing the current command values of the control circuits’ own systems toward the current command values before the adjustment.

A motor electric control unit (ECU) for an electromechanical power steering mechanism, which controls current through an electric assist motor in response to steering mechanism sensors' signals. The ECU may comprise at least two channels. Each channel has the steering mechanism sensors in a redundancy concept. At least one voter that is assigned to an actuator and is configured to vote on the correct steering mechanism sensors' outputs of the at least two channels. The steering mechanism sensors may include a steering column torque sensor and an RPS sensor for sensing a rotor angle of the electric assist motor. Each of the at least two channels may include processors that have different software to protect against systematic faults.