| 摘要 |
<p>Provided is a steering control device comprising a pinion angle command value correction unit (33) that: sets a correction angle (θcal) for reducing deviation between a turning command angle (θpcmd) and a turning angle that occurs on the basis of the turning command angle (θpcmd); and that performs low-speed correction processing and medium-speed correction processing in which the turning command angle (θpcmd) is corrected on the basis of the set correction angle (θcal) and set as a post-correction command angle (θpcmdco). The pinion angle command value correction unit (33) then turns the front wheels (3FL, 3FR) on the basis of the corrected post-correction command angle (θpcmdco) and a pinion absolute angle (θp) calculated by a pinion absolute angle calculation unit (42). On this occasion, when the pinion angle command value correction unit (33) determines that the low-speed correction processing and medium-speed correction processing are to occur during steering, said low-speed correction processing and medium-speed correction processing are compared with a case in which it is determined that steering is not being performed, and the change amount (correction angle speed (Δθcal)) of the correction angle (θcal) per unit of time is increased.</p> |
