VEHICULAR STEERING CONTROL DEVICE

摘要

PROBLEM TO BE SOLVED: To provide a vehicular steering control device imparting no sense of incompatibility to a driver by making a turning radius of a vehicle and a change in a sideslipping angle of the vehicle coincide with the intended direction of the driver even when being unable to realize a desired value of a steering angle by a limit of a steering speed in a system capable of respectively independently positionally controlling the steering angle of front wheels and rear wheels. SOLUTION: A target steering angle calculating means 201 calculates a target steering angle of the respective front wheels and rear wheels on the basis of an operation quantity of a steering wheel. A steering angular velocity range estimating means 202 estimates a range of steering angular velocity actually steerable to the respective front wheels and rear wheels on the basis of a speed of the vehicle. A steering angular velocity limiting means 203 limits the other steering angular velocity when one steering angular velocity of the front wheels or the rear wheels exceeds realizable steering angular velocity estimated by the steering angular velocity range estimating means 202.