Patent ID: 8924084

Claim:
A steering control apparatus comprising: a steering wheel mechanically separated from wheels to be steered; a steering wheel angle detecting unit configured to detect a steering wheel angle of the steering wheel; a steering motor configured to steer the wheels; a steering motor drive unit configured to drive the steering motor on the basis of the steering wheel angle detected by the steering wheel angle detecting unit; a state quantity detecting unit configured to detect a state quantity of a vehicle, the state quantity varying due to a force acting on the wheels in a transverse direction; a reaction force motor configured to apply a steering reaction force to the steering wheel; a feedforward axial force computing unit configured to calculate a feedforward axial force on the basis of the steering wheel angle detected by the steering wheel angle detecting unit, the feedforward axial force being a steering-rack axial force; a feedback axial force computing unit configured to calculate a feedback axial force on the basis of the state quantity of the vehicle detected by the state quantity detecting unit, the feedback axial force being the steering-rack axial force; a final axial force setting unit configured to allocate the feedback axial force calculated by the feedback axial force computing unit and the feedforward axial force calculated by the feedforward axial force computing unit at an allocation ratio based on an axial force difference which is a difference between the feedback axial force calculated by the feedback axial force computing unit and the feedforward axial force calculated by the feedforward axial force computing unit to set a final axial force as the steering-rack axial force; and a reaction force motor drive unit configured to drive the reaction force motor on the basis of the final axial force set by the final axial force setting unit.