| 摘要 |
To prevent a generation of a large change of a steering reaction force at the time of starting and stopping steering so as to reduce a feeling of strangeness of a driver, while controlling driven wheels with high responsivity with respect to steering. A steering control unit 25 controls a steering motor 7 based on a final target turning angle ¸t obtained by an addition of a first target turning angle ¸1 and a second target turning angle ¸2. A reaction force control unit 26 controls a reaction force motor 3 based on a final target steering reaction force Tt obtained by an addition of a first target steering reaction force T1 and a second target steering reaction force T2. In this case, a second target steering reaction force calculation unit 24 calculates the second target steering reaction force T2 based on a value obtained by a variation restriction of the second target turning angle ¸2 based on a steering angular velocity ¸t (second turning angle correction value ¸2a). |
