| 摘要 |
A steering control device can restrain a steering from being operated to cause not only a steered angle but also a steering angle to exceed their upper limit values. A maximum value selection circuit M36 selects a maximum value of a target steered angle ¸p* and a target steering angle ¸h* as an end angle ¸e and outputs the end angle ¸e to a limiting reaction force setting circuit M6. The limiting reaction force setting circuit M6 increases a limiting reaction force Fie rapidly if the end angle ¸e becomes equal to or larger than a common threshold ¸en. A target steering angle setting circuit M22 sets a target steering angle ¸h* based on torque Trq applied to the steering minus the limiting reaction force Fie etc. A steering angle control circuit M24 sets reaction torque Trqa* as a manipulated variable for feedback controlling the steering angle ¸h to the target steering angle ¸h*. An operation signal generation circuit M26 outputs an operation signal MSs to a reaction force motor so as to achieve the reaction torque Trqa*. |
