Patent attributes
The microcomputer calculates a first assist component based on a vehicle speed value and a steering torque, calculates a rotation angle command value based on at least the vehicle speed value and a first assist component, and calculates a second assist component by adjusting a rotation angle to the rotation angle command value through feedback control. The microcomputer sets a limited state 1 where the second assist component is disabled when a vehicle is stationary. During an abnormality determination period during which the vehicle speed value is determined to be abnormal, the microcomputer sets the vehicle speed value to a provisional vehicle speed value. Further, in a limited state 2 that is set when the vehicle is stationary during the abnormality determination period, the microcomputer calculates the first assist component based on a provisional vehicle speed value, and disables the second assist component.
