CPC B62D 5/0463 (2013.01) [B62D 5/0481 (2013.01)] | 15 Claims |
1. A steering control device configured to control a steering system including a turning mechanism that includes a motor configured to generate a motor torque that serves as power for moving a turning shaft to turn turning wheels of a vehicle, the steering control device comprising
a control unit configured to control a target control value serving as a target of a control value for controlling the motor torque of the motor,
wherein the control unit is configured to:
perform compensation for the target control value;
acquire an offset value; and
change the target control value such that the acquired offset value decreases gradually, and
wherein:
the control unit is configured to perform the compensation such that the target control value is shifted into an output limit of the motor, when the target control value exceeding the output limit is calculated; and
the control unit is configured to acquire an excess control value that is a control value corresponding to an excess over the output limit of the motor, as the offset value that is an amount by which the target control value is shifted through the compensation, when the target control value exceeding the output limit is calculated.
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