A power steering device includes a steering mechanism structured to steer a steerable wheel in accordance with steering of a steering wheel. A first sensor is structured to sense a specific state quantity of steering. A second sensor is structured to sense the specific state quantity. A first actuation part is structured to apply a steering force to the steering mechanism. A second actuation part is structured to apply a steering force to the steering mechanism. A first microprocessor is configured to receive an output signal from the first sensor, and control driving of the first actuation part based on the output signal received from the first sensor. A second microprocessor is configured to receive an output signal from the first sensor and an output signal from the second sensor, and control driving of the second actuation part based on the output signal received from the first sensor.

A control system for a motor includes: a first processing circuit configured to operate a first drive circuit; a second processing circuit configured to operate a second drive circuit; and a command circuit configured to output a signal relating to a command value for a steered angle of a steered wheel to the first processing circuit and the second processing circuit. The command circuit is configured to execute a detection process, a first notification process, and a second notification process. The first processing circuit is configured to execute a first correction process based on a first result signal to control the steered angle to the command value. The second processing circuit is configured to execute a second correction process based on a second result signal to control the steered angle to the command value.

A first microcomputer is configured to identify the cause (a content of the abnormality) of a communication abnormality based on a combination of whether communication through a first communication line is established, whether communication through a second communication line is established, and whether a second clock is normal. Specifically, the first microcomputer separately determines whether the communication abnormality between the first microcomputer and a second microcomputer is simply due to an abnormality in the first communication line and the second communication line, or due to stop of a function of the second microcomputer. The second microcomputer is configured to identify the cause of the communication abnormality based on a combination of whether the communication through the first communication line is established, whether the communication through the second communication line is established, and whether a first clock is normal.

Two systems of individually-provided arithmetic units in a control device of a multi-phase rotating machine perform control calculation for a control of electric current flowing from power converters to the multi-phase windings. The arithmetic units of the respective systems communicate information via inter-system communication at least in one direction, and perform current control calculation of the electric current flowing in the multi-phase windings of a subject system in a cycle shorter than a communication cycle of the inter-system communication, and calculate a decoupling control amount of the electric current flowing in the multi-phase windings of the subject system, for a decoupling control of a voltage generated in the multi-phase windings of the subject system by the electric current flowing in the multi-phase windings of an other system by using an estimated current that is calculated based on a current instruction value of the subject system or of the other system.

The present invention provides a vehicle control apparatus that controls automated driving of a vehicle, comprising: a first controller configured to perform travel control of the vehicle by controlling a first actuator; and a second controller configured to perform travel control of the vehicle by controlling a second actuator which is different from the first actuator, as alternative control to be performed in a case in which degradation of a control function is detected in the first controller, wherein in a case of starting the alternative control, the travel control of the vehicle by the first controller is gradually shifted to the travel control of the vehicle by the second controller.

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.

A steering apparatus for vehicles that easily obtains equivalent steering torques to vehicle driving information such as a steering angle without being affected by a road surface state and aging-changes of mechanism characteristics of a steering system. The steering apparatus includes a torsional angle control section that calculates a motor current command value based on a target torsional angle corresponding to vehicle driving information and the torsional angle, and includes a torsional angle feedback compensating section that calculates a target torsional angular velocity by a deviation between the target torsional angle and the torsional angle. A torsional angular velocity calculating section calculates a torsional angular velocity by the torsional angle, and a velocity control section calculates a pre-limitation motor current command value by performing proportional compensation based on the target torsional angular velocity and the torsional angular velocity. An output limiting section limits upper and lower limit values of the pre-limitation motor current command value, and outputs the motor current command value which is used to control the motor.

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.

A method for unintended steering mitigation includes receiving at least one hand wheel measurement correspond to a hand wheel of a vehicle. The method also includes determining a hand wheel return value corresponding to the at least one hand wheel measurement. The method also includes receiving a torque value corresponding to propulsion of the vehicle. The method also includes determining whether the torque value is above a threshold. The method also includes, in response to a determination that the torque value is above the threshold adjusting the hand wheel return value based on the torque value and selectively controlling return of the hand wheel based on the adjusted hand wheel return value.

A motor controller is configured to control a motor including a plurality of winding groups. The motor controller includes a plurality of processors. Each of the processors is configured to independently control supply of driving electric power to each of the winding groups. When an abnormality occurs in which a torque to be generated in one of the winding groups is smaller than an individual rated torque and when a target overall torque is larger than a total of the individual rated torque for the winding group in which the abnormality does not occur, the processor, controlling supply of driving electric power to the winding group in which the abnormality does not occur, out of the plurality of processors controls supply of the driving electric power such that the winding group generate a torque larger than the individual rated torque.