# US 2021/0276610 A1 · Steering control device > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2021/0276610 A1 - Document ID: US20210276610A1 - Status: Published application - Kind: A1 - Application number: 17/187,939 - Filed: 2021-03-01 - Published: 2021-09-09 - Earliest claimed: 2020-03-09 - Assignees: Jtekt Corporation - Applicants: Jtekt Corporation - Inventors: Takashi KODERA - Web page: https://patentgrep.com/patent/US20210276610A1 ## CPC - B62D 5/046: {Controlling the motor} - B62D 5/0481: {monitoring the steering system, e.g. failures} - B62D 6/00: Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits (means for initiating a change in direction B62D1/00; steering valves B62D5/06; combined with means for inclining the vehicle body or wheels on bends B62D9/00) - B62D 5/0496: {by using a temperature sensor} - B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M) ## Abstract A steering control device controls a steering device that includes an electric motor. The steering control device includes a control unit configured to control an operation of the steering device by controlling the electric motor. The control unit is configured to calculate a control value for controlling the electric motor, to calculate a predetermined component indicating characteristics of the steering device using a value of a variable associated with the control value as an input, and to determine whether a mechanical abnormality has occurred in the steering device based on the calculated predetermined component. ## Claims ### Claim 1 A steering control device that controls a steering device that turns turning wheels of a vehicle and includes an electric motor, the steering control device comprising: a control unit configured to control an operation of the steering device by controlling the electric motor, wherein the control unit is configured to perform a control value calculating process of calculating a control value for controlling the electric motor, a predetermined component calculating process of calculating a predetermined component indicating characteristics of the steering device which are exhibited by controlling the electric motor using a value of a variable associated with the control value as an input, and an abnormality state determining process of determining whether a mechanical abnormality has occurred in the steering device based on the predetermined component calculated in the predetermined component calculating process. ### Claim 2 (depends on 1) The steering control device according to claim 1, wherein the predetermined component calculating process includes a disturbance torque calculating process of using a value of a variable associated with a torque which is output from the electric motor and a value of a state variable of the steering device which changes by controlling the electric motor as the value of the variable associated with the control value and calculating a torque component which affects the state variable except the torque output from the electric motor as a disturbance torque. ### Claim 3 (depends on 2) The steering control device according to claim 2, wherein the predetermined component calculating process includes a filtering process of using the disturbance torque as an input and selectively transmitting a specific frequency component of the disturbance torque, and uses an output of the filtering process as the predetermined component. ### Claim 4 (depends on 3) The steering control device according to claim 3, wherein the filtering process includes an intensity changing process of changing an intensity of the output of the filtering process depending on a temperature of the steering device but with the same input of the filtering process. ### Claim 5 (depends on 1) The steering control device according to claim 1, wherein the predetermined component calculating process includes a stickiness component calculating process of calculating a stickiness component of the steering device as the predetermined component. ### Claim 6 (depends on 1) The steering control device according to claim 1, wherein the predetermined component calculating process includes a friction component calculating process of calculating a friction component of the steering device as the predetermined component. ### Claim 7 (depends on 1) The steering control device according to claim 1, wherein the predetermined component calculating process includes an inertia component calculating process of calculating an inertia component of the steering device as the predetermined component.