Patent ID: 8544592

Claim:
A steering apparatus for a vehicle, comprising: a wheel drive unit configured to drive wheels of the vehicle, the wheel drive unit being mechanically disconnectable from a steering wheel configured to be operated by a driver; a reaction force imparting unit configured to impart a steering reaction force to the steering wheel; a turning angle detection unit configured to detect a turning angle of the wheels; a steering angle detection unit configured to detect a steering angle as an operation amount of the steering wheel by the driver; a steering angular velocity detection unit configured to detect a steering angular velocity as an operation velocity of the steering wheel by the driver; a first target turning angle calculation unit configured to calculate a first target turning angle based on the detected steering angle; a second target turning angle calculation unit configured to calculate a second target turning angle based on the detected steering angular velocity; a first target steering reaction force calculation unit configured to calculate a first target steering reaction force based on the calculated first target turning angle; a second target steering reaction force calculation unit configured to calculate a second target steering reaction force based on a value obtained by a variation restriction of the calculated second target turning angle; a driven wheel control unit configured to control the wheel drive unit based on a final target turning angle obtained by an addition of the first target turning angle and the second target turning angle; and a reaction force control unit configured to control the reaction force imparting unit based on a final target steering reaction force obtained by an addition of the first target steering reaction force and the second target steering reaction force.