An electronic steering control apparatus to which a redundancy system is applied and which includes a first position controller and a second position controller. When communication is established between the first and second position controllers, the first position controller controls the position of a first motor based on command steering angles θ.sub.1 and θ.sub.2 from a control unit and feedback steering angles θ.sub.m1 and θ.sub.m2 from the first motor and a second motor, and the second position controller controls the position of the second motor based on the command steering angles θ.sub.1 and θ.sub.2 from the control unit and the feedback steering angles θ.sub.m1 and θ.sub.m2 from the first motor and the second motor.

An electronic steering control apparatus to which a redundancy system is applied and which includes a first position controller and a second position controller. When communication is established between the first and second position controllers, the first position controller controls the position of a first motor based on command steering angles θ.sub.1 and θ.sub.2 from a control unit and feedback steering angles θ.sub.m1 and θ.sub.m2 from the first motor and a second motor, and the second position controller controls the position of the second motor based on the command steering angles θ.sub.1 and θ.sub.2 from the control unit and the feedback steering angles θ.sub.m1 and θ.sub.m2 from the first motor and the second motor.

A steer-by-wire steering system, including: a pair of wheel steering devices respectively provided for right and left wheels of a vehicle, each of the pair of wheel steering devices including an actuator and configured to steer a corresponding one of the right and left wheels independently of the other of the right and left wheels; and a controller configured to control the pair of wheel steering devices such that steering amounts of the respective right and left wheels are equal to respective amounts based on a steering request, wherein the controller executes a steering-amount stabilizing control to reduce a change in the steering amounts in an external-force-dependent steering situation in which the right and left wheels are steered or likely to be steered by an external force applied to the right and left wheels.

A device for estimating a factor of one-side pull to be generated at a vehicle includes one or more sensors, a calculator, and an estimator. The one or more sensors are configured to detect an acting force on one or more sensors wheels. The calculator is configured to calculate a position of a center of a ground contact load based on information outputted by the one or more sensors. The estimator is configured to estimate the factor based on a lateral displacement of the center of the ground contact load.

A device for estimating a factor of one-side pull to be generated at a vehicle includes one or more sensors, a calculator, and an estimator. The one or more sensors are configured to detect an acting force on one or more sensors wheels. The calculator is configured to calculate a position of a center of a ground contact load based on information outputted by the one or more sensors. The estimator is configured to estimate the factor based on a lateral displacement of the center of the ground contact load.

A system, comprising a computer including a processor and a memory storing instructions executable by the processor to determine a first lateral boundary for movement of a vehicle. The first lateral boundary is parallel to a longitudinal axis of the vehicle and is based on at least a size of the vehicle. Based on at least the size of the vehicle and a detected yaw rate of the vehicle, the instructions include to determine a wind condition at a location. The instructions include to update a distance of the first lateral boundary from the longitudinal axis to obtain an updated first lateral boundary, based on the wind condition.

A steering control device 10 is equipped with: a first specification unit 121 for specifying an expected travel position where a vehicle is expected to travel in the traffic lane in which the vehicle is travelling; a second specification unit 122 for specifying information about the weight of the vehicle; an adjustment unit 123 for adjusting the expected travel position in the vehicle-widthwise direction on the basis of the expected travel position of the vehicle and the weight information; and a steering control unit 124 for controlling steering on the basis of the adjusted expected travel position.

An integrated chassis control system includes a first sensor configured to sense a first vehicle driving in a lane adjacent to a lane in which an own vehicle is driving and to sense behavior information of the first vehicle, a second sensor configured to sense a variation in behavior of the own vehicle, a first determinator configured to determine a degree of influence of a side wind, which is predicted to occur due to the first vehicle, based on the behavior information of the first vehicle, a second determinator configured to determine a variance in abnormal behavior of the own vehicle based on information sensed by the second sensor, a first controller configured to perform a semi-active chassis system control, and a second controller configured to perform an active chassis system control.

A driving support ECU initializes a target trajectory calculation parameter at a start of LCA; calculates, based on the target trajectory calculation parameter, a target trajectory function representing a target lateral position which is a target position of an own vehicle in a lane width direction in accordance with an elapsed time from the start of LCA; calculates a target control amount based on the target trajectory function; when a steering operation by a driver has been detected, again initializes the target trajectory calculation parameter; and recalculates the target trajectory function based on the target trajectory calculation parameter.

A driving support ECU initializes a target trajectory calculation parameter at a start of LCA; calculates, based on the target trajectory calculation parameter, a target trajectory function representing a target lateral position which is a target position of an own vehicle in a lane width direction in accordance with an elapsed time from the start of LCA; calculates a target control amount based on the target trajectory function; when a steering operation by a driver has been detected, again initializes the target trajectory calculation parameter; and recalculates the target trajectory function based on the target trajectory calculation parameter.