Patent ID: 7508148

Claim:
A vehicle steering apparatus which uses a steering motor to supply a steering mechanism with steering force corresponding to a steering amount applied to a steering member, comprising: a reaction force motor supplying the steering member with steering reaction force; a vehicle speed sensor detecting a vehicle running speed; a current sensor detecting a motor current of the steering motor; and a controller performing operations of: extracting a component within a predetermined frequency range out of the detected motor current, said predetermined frequency range increasing and decreasing based on the detected vehicle running speed and having a lower limit of 3 Hz and an upper limit of 9 Hz at high vehicle speed and an upper limit of 15 Hz at low vehicle speed; amplifying the extracted component with an amplification factor which increases as detected vehicle running speed decreases and decreases as detected vehicle running speed increases; calculating said steering reaction force by setting a target value of a steering reaction force which corresponds to the steering amount; and adding to said target value the extracted and amplified component; and driving the reaction force motor so as to supply the steering member with the calculated steering reaction force.