An electronic control device includes a plurality of control circuit units, a signal line, and a sneak-in suppression circuit. The plurality of control circuit units are connected to separate grounds, respectively. The signal line connects a first control circuit unit and a second control circuit unit. When a system is defined as a combination of a component and a ground corresponding to a control circuit unit, the sneak-in suppression circuit suppresses a sneak-in of electric power from the ground of one system (i.e., a subject system) to the other system connected by the signal line for preventing a cascading failure.

A controller may have a plurality of self-diagnostic functions, each of which is configured for checking a function of an assigned hardware component of the controller. Each of the self-diagnostic functions may have at least one safety limit value, which is configured such that when the at least one safety limit value is exceeded the corresponding hardware component is switched off. Each of the self-diagnostic functions may have at least one quality limit value, the absolute value of which is smaller than an absolute value of the at least one safety limit value. The at least one quality limit value can be configured such that a quality-relevant state can be detected in the assigned hardware component when the at least one quality limit value is exceeded.

There are provided a motor control device, an electric power steering device, and a vehicle that allow an electric motor to be accurately drive-controlled even when a failure occurs in a motor electric angle detection unit that detects a motor electric angle. When at least one of a resolver and an angle computation unit is diagnosed as being abnormal in an initial diagnosis after a system restart, a motor electric angle initial value is estimated on a basis of a response output of a three-phase electric motor in response to input of a motor drive signal to the three-phase electric motor, a motor electric angle estimation vale is calculated on a basis of an output shaft rotation angle detection value detected by an output-side rotation angle sensor and a relative offset amount estimated on a basis of the estimated motor electric angle initial value, and the three-phase electric motor is drive-controlled on a basis of the calculated motor electric angle estimation value.

The embodiments relate to a steering control device and method. Specifically, a steering control device according to an embodiment may include a first steering control module configured to receive steering information, determine a target rack position based on the steering information, and generate a first command current to control a steering motor so that a rack moves to the target rack position, and a second steering control module configured to receive a control right for the steering motor if the first steering control module fails, and generate a second command current for controlling the steering motor.

There is provided a steering control device that can control even when a systematic error has occurred. An update amount calculation processing circuit manipulates a control angle in accordance with an update amount in order to control steering torque, which is obtained by subjecting the magnitude of steering torque to a decrease correction by a threshold, to target torque through feedback control. The control angle is used to convert a current command value to a value in a fixed coordinate system or the like. The update amount is subjected to a guarding process in accordance with the steering torque by a torque-based guarding processing circuit, and determined as a final update amount for the control angle. The torque-based guarding processing circuit performs the guarding process on the update amount such that the update amount is in an allowable range that matches the steering torque.

An apparatus for controlling an MDPS system including: an autonomous driving cancellation determination unit configured to determine whether to cancel autonomous driving, using column torque passed through a band stop filter, under an autonomous driving condition; and a signal processing unit configured to calculate command steering angle acceleration information using command steering angle information outputted from an autonomous driving system. When the steering angle acceleration information is equal to or greater than a predetermined reference value, the autonomous driving cancellation determination unit may determine that urgent steering is performed by the autonomous driving system, and forbid cancellation of the autonomous driving.

A control device for a motor including a first coil and a second coil which are insulated from each other is provided. The control device includes a first circuit and a second circuit that switches a first process to a second process when the first circuit fails. The external circuit generates an instruction for performing a process of increasing an amount of operation which is calculated by one of the first circuit and the second circuit according to the number of control systems when the other of the first circuit and the second circuit fails.

An electric power steering apparatus that performs an assist control of a steering system, including: at least two respectively independent torque sensors and angle sensors, wherein having a function that respectively calculates steering angles from the torque sensors and the angle sensors to utilize, wherein comparison diagnoses of independent signals are performed and also concurrently individual diagnoses of each individual signal are performed, in a case that it is judged that there is an abnormality in the comparison diagnoses, the angle sensor signals are not used, in a case that it is judged that at least one of the individual diagnoses is abnormal, the angle sensor signal is treated as downgrading, and in a case that it is judged that two or more of the individual diagnoses are abnormal, the angle sensor signals are not used.

[Problem] An object of the present invention is to provide an electric power steering apparatus capable of smoothly switching the control systems without self-steer by gradually changing a control torque of the torque control and a command value of the position/speed control upon fade processing that switches the control systems.

[Means for Solving the Problem] The present invention is the electric power steering apparatus including a torque sensor to detect a steering torque and a motor control unit to control a motor that applies an assist torque to a steering system of a vehicle, comprising: a function to switch a control system of the motor between a torque control system of a torque system to control a motor output torque and a position/speed control system of a steering angle system to control a steering angle of a steering in accordance with a predetermined switching trigger, wherein each of a steering angle command value and a steering angle speed of the position/speed control system and an assist torque level of the torque control system gradually change sensitive to the steering torque, when shifting from the torque control system to the position/speed control system or vice versa.

Restriction values (upper limit and lower limit) for an assist control amount are set individually for each of state amounts including steering torque τ used to compute the assist control amount. A value obtained by summing such restriction values is set as a final restriction value for the assist control amount. Even though the assist control amount with an abnormal value is computed, the assist control amount is restricted to an appropriate value by the final restriction value. In addition, a transition is made from a primary assist control amount which is restricted to a secondary assist control amount computed separately from the primary assist control amount at the timing when a certain time elapses since the assist control amount is restricted. As the steering torque τ is increased, the speed of transition from the primary assist control amount to the secondary assist control amount is increased.