Steering control apparatus
A steering control apparatus is configured to control a steering system having a structure in which a power transmission path between a steering mechanism and a steering operation mechanism including a motor configured to generate a motor torque is separated. The steering control apparatus includes a controller configured to control driving of the motor. The controller detects an abnormality of the steering operation mechanism when a value indicating a variation in the motor torque is a value indicating a state in which a steering operation shaft is presumed to be immovable though the motor torque is applied.
1. A steering control apparatus configured to control a steering system having a structure in which a power transmission path between a steering mechanism and a steering operation mechanism is separated, the steering mechanism being steered by a driver, the steering operation mechanism including a motor configured to generate a motor torque serving as power for moving a steering operation shaft to turn a steered wheel of a vehicle, the steering control apparatus comprising
a controller configured to control driving of the motor to generate the motor torque, wherein:
the controller is configured to detect an abnormality of the steering operation mechanism when a value indicating a variation in the motor torque is a value indicating a state in which the steering operation shaft is presumed to be immovable though the motor torque is applied, and
the controller is configured to detect the abnormality of the steering operation mechanism when a vehicle speed of the vehicle is higher than a low vehicle speed that includes the vehicle being stopped.
2. The steering control apparatus according to claim 1 , wherein the controller is configured to detect the abnormality of the steering operation mechanism through comparison between a value that is calculated as the value indicating the variation in the motor torque and that corresponds to a gradient of the variation and a gradient threshold defined to indicate the state in which the steering operation shaft is presumed to be immovable though the motor torque is applied.
3. The steering control apparatus according to claim 1 , wherein the value indicating the state in which the steering operation shaft is presumed to be immovable though the motor torque is applied is set to a value larger than a value determined by a characteristic of a change in the motor torque that is estimated based on an elastic component of the steered wheel and an elastic component of the vehicle.
4. The steering control apparatus according to claim 1 , wherein the controller is configured to detect the abnormality of the steering operation mechanism when the value indicating the variation in the motor torque continues, for a preset threshold time, to be the value indicating the state in which the steering operation shaft is presumed to be immovable though the motor torque is applied.
5. The steering control apparatus according to claim 1 , wherein the controller is configured to detect the abnormality of the steering operation mechanism when a control state of the motor is not a limiting state in which power output from the motor is limited.