Turning control device and turning device

A turning control device comprising:

• a position detection unit, implemented by one or more processors, configured to detect a steered position of a turning mechanism of a vehicle;
• a terminal position learning unit, implemented by the one or more processors, configured to learn a terminal position of the turning mechanism, based on the steered position detected by the position detection unit;
• a relearning determination unit, implemented by the one or more processors, configured to determine necessity of relearning of the terminal position, the relearning determination unit includes:
• an end-abutting detection unit, implemented by one or more processors, configured to:
• detect end-abutting, the end-abutting being a state in which the turning mechanism is detected as turned to the terminal position, and
• acquire end-abutting steering angles, the end-abutting steering angles being respective ones of steering angle values when end-abutting is detected;
• an end-abutting steering angle range determination unit, implemented by one or more processors, configured to:
• determine a variation between a first steering angle value and a second steering angle value, the first steering angle value representing a first one of the steering angle values of a first one of the end-abutting steering angles, the second steering angle value representing a second one of the steering angle values of a second one of the end-abutting steering angles;
• determine whether the variation is less than or equal to a predetermined threshold value;
• a relearning unit, implemented by one or more processors, configured to, based on the variation being determined to be less than or equal to the predetermined threshold value, reset the learned terminal position to an initial value,
• a counting unit, implemented by one or more processors, configured to count a number of times of acquisition of the end-abutting steering angles having ones of variations that are less than or equal to the predetermined threshold value, a first one of the variations being the variation between the first steering angle value and the second steering angle value,
• wherein based on the number of times of acquisition being determined to be greater than or equal to a first threshold number of times, the relearning unit resets the learned terminal position to the initial value,
• wherein the counting unit includes a count storage unit configured to:
• retain, as a counted number of times of end-abutting, first ones of the number of times counted based on first ones of the variations being determined based on first ones of the end-abutting steering angles being obtained during a first period when a vehicle speed of a vehicle is greater than or equal to a vehicle speed threshold value,
• retain, as a provisional counted number of times, second ones of the number of times counted based on second ones of the variations being determined based on second ones of the end-abutting steering angles being objected during a second period when the vehicle speed is less than a vehicle speed threshold value, and
• based on the vehicle speed changing from less than the vehicle speed threshold value to greater than or equal to the vehicle speed threshold value, assign a value of the provisional counted number of times to the counted number of times of end-abutting, and
• wherein based on the counted number of times of end-abutting being greater than or equal to the first threshold number of times, the relearning unit resets the learned terminal position to an initial value.