Patent ID: 9505428
Filing Date: 2016-11-29
CPC Classification: B62D

Claim Text:
1. A steering control device, comprising: a steering wheel mechanically separated from steered wheels; a steering angle detecting unit configured to detect a steering angle of the steering wheel; a turning actuator configured to turn the steered wheels according to the steering angle detected by the steering angle detecting unit; a feedforward axial force calculating unit configured to calculate a feedforward axial force, which is a first axial force that applies a steering reaction force, based on the steering angle detected by the steering angle detecting unit; a state amount detecting unit configured to detect a state amount of a vehicle that changes depending on a tire lateral force applied on the steered wheels; a feedback axial force calculating unit configured to calculate a feedback axial force, which is a second axial force that returns to a driver a force applied from a road surface to the steering wheel as the steering reaction force, based on the state amount of the vehicle detected by the state amount detecting unit; a final axial force setting unit configured to set a final axial force, which is a third axial force obtained, by allocating the feedforward axial force calculated by the feedforward axial force calculating unit and the feedback axial force calculated by the feedback axial force calculating unit at an allocation ratio; and a reaction force actuator configured to apply the steering reaction force based on the final axial force set by the final axial force setting unit, wherein, when an axial force difference exists between the feedforward axial force and the feedback axial force, the final axial force setting unit is configured to make an allocation ratio of the feedforward axial force smaller than when the axial force difference is zero.