Patent ID: 7246679

Claim:
A vehicle steering apparatus comprising: a steering gear that steers steerable road wheels of a vehicle; a steered angle controller that controls a steered angle of the road wheels; a manual steering unit that is mechanically separated from the steering gear and manually operated for variably controlling a steering angle; a steering reaction force actuator that produces a steering reaction force to be applied to the manual steering unit; a steering reaction force controller that outputs a steering reaction force command value to the steering reaction actuator; and a road surface input torque detector that detects a road surface input torque inputted to the road wheels from a road surface; wherein the steering reaction force controller includes a low cut-off frequency filter that extracts a low frequency component equal to or lower than a first predetermined frequency from an output of the road surface input torque detector and sets the steering reaction force command value on the basis of a vehicle driving condition and an output of the low cut-off frequency filter.