Patent ID: 6929085

Claim:
A steering apparatus for a vehicle comprising: an operating element with which a driver of a vehicle operates the vehicle; an operating amount detecting device that detects an operating amount of said operating element; a reaction force imparting device that imparts to said operating element an operating reaction force in opposition to an operating direction of said operating element; a steering device that steers a steered wheel of said vehicle through a rack axis, said steering device being mechanically separated from said operating element; a steered amount detecting device that detects a steered amount of said steered wheel; a target rack position setting device that sets a target rack position of said rack axis based on the operating amount detected by said operating amount detecting device; and a control device that determines a control amount for said reaction force imparting device and a control amount for said steering device in accordance with a deviation between the target rack position set by said target rack position setting device and the steered amount detected by said steered amount detecting device, wherein said steering apparatus for a vehicle further comprises an operating torque detecting device that detects an operating torque acting on said operating element, and said control device comprises a feedforward control device that feedforward-controls said steering device in accordance with the operating torque detected by said operating torque detecting device; and a frequency compensating device that increases or decreases a feedforward effect in accordance with an operating frequency of said operating element.