Turning control device

A turning control device configured to control a turning device, the turning device including a steering wheel, an input shaft, an intermediate shaft, an output shaft, a first Cardan joint, a second Cardan joint, an assist motor, and a turning wheel, the input shaft being coupled to the steering wheel, the first Cardan joint being a member that couples the input shaft and the intermediate shaft, the second Cardan joint being a member that couples the intermediate shaft and the output shaft, the turning wheel being a member to which a steering torque input to the steering wheel is transmitted through the input shaft, the intermediate shaft, and the output shaft, and the assist motor being a motor configured to give a torque to a position that is closer to the turning wheel than the second Cardan joint is,

• the turning control device comprising a processor configured to execute a rudder angle variable acquisition process, an assist torque variable calculation process, a control torque acquisition process, a manipulation process, a variation torque control process, and a restriction process, wherein:
• the rudder angle variable acquisition process is a process of acquiring a value of a steering angle variable, the steering angle variable being a variable indicating a steering angle that is an angle of the steering wheel;
• the assist torque variable calculation process is a process of calculating a value of an assist torque variable, the assist torque variable being a variable indicating a torque for assisting steering by a driver depending on manipulation of the steering wheel;
• the control torque acquisition process is a process of acquiring a value of a control torque variable, the control torque variable being a variable indicating a torque for controlling a traveling direction of a vehicle independently from the manipulation of the steering wheel;
• the manipulation process is a process of manipulating a drive circuit of the assist motor depending on a torque that depends on at least one of the two values, the value of the assist torque variable and the value of the control torque variable;
• the variation torque control process is a process of varying a torque as an input variable in the manipulation process, depending on the steering angle, based on the value of the steering angle variable as an input variable;
• and
• the restriction process is a process of restricting a magnitude of variation in the torque as the input variable in the manipulation process depending on the steering angle, to a small side, depending on a priority degree of the value of the control torque variable in the manipulation process.