Patent ID: 7416264

Claim:
A vehicle steering apparatus comprising: a driving state detecting device for detecting a driving state of the vehicle; a wheel adjusting device for adjusting separately the wheel angles of left and right wheels; a braking force estimating device for estimating braking force to be applied to the left and right wheels periodically; a judgment portion for determining whether vehicle braking is to be permitted or not based on the driving state of the vehicle; and a control portion controlling the wheel adjusting device, wherein, in the case that vehicle braking is permitted by the judgment portion, the control portion sets the wheel angles of the left and right wheels to be in opposite phase and adjusts the wheel angles in accordance with the braking force to be applied to the left and right wheels, and said control portion sets first target wheel angles of the left and right wheels to be the sum of a predetermined step value and current wheel angles when a current braking force is larger than a previous braking force or second target wheel angles of the left and right wheels to be the subtraction of a predetermined step value from the current wheel angles when the current braking force is smaller than the previous braking force.