Patent ID: 7325644

Claim:
A steering control device including a steering wheel steering mechanism having a steering actuator that imparts a steering reaction force to a steering wheel, and a vehicle wheel steering mechanism having a vehicle wheel steering actuator that drives a vehicle wheel steering shaft, comprising: a steering angle sensor that detects a steering angle θ of the steering wheel; and a steering change amount sensor that detects a steering change amount X a in the vehicle wheel steering mechanism; an end-of-movement reaction force generation unit that respectively generates, in a vicinity of an upper limit point θ E of the steering angle θ and a vicinity of a lower limit point −θ E of the steering angle θ, a virtual contact resistance force that inhibits the steering angle θ from exceeding threshold values of a predetermined permissible range (−θ E ≦θ≦θ E ) of the steering angle θ, based on the steering angle θ, the steering change amount X a or a command value X n for the steering change amount X a ; and a steering angle threshold value variation unit that dynamically changes the upper limit point θ E and the lower limit point −θ E of the permissible range (−θ E ≦θ≦θ E ), based on a vehicle speed v.