Patent ID: 8340867

Claim:
A steering system comprising: an electric power steering device which comprises a steering unit of front wheels having an electric motor configured to generate an auxiliary torque in accordance with at least a steering torque, and is configured to transmit the auxiliary torque to the steering unit; rear wheel toe angle changers capable of changing toe angles of respective right and left rear wheels in accordance with at least a turning angle of the front wheels and a vehicle speed; and a steering controller configured to control the electric power steering device and the toe angle changers, the steering controller including an auxiliary torque calculating unit configured to calculate a target value of the auxiliary torque and to output a target signal for driving the electric motor, wherein the auxiliary torque calculating unit compensates for a difference between a first self-aligning torque generated at the front wheels of the steering system that includes the rear wheel toe angle changers and a second self-aligning torque generated at front wheels of a hypothetical vehicle without rear wheel toe angle changers.