Patent ID: 7359778

Claim:
A vehicle steering apparatus of a steer-by-wire system provided with a steering handle operated by a driver for steering a vehicle, a turning actuator for turning steered wheels and a turning control device that drives and controls the turning actuator according to the operation on the steering handle for turning the steered wheels, wherein the turning control device comprises: operation input value detecting means that detects an operation input value by a driver to the steering handle; vehicle speed detecting means that detects a vehicle speed; motion state quantity calculating means that calculates plural anticipated motion state quantities of the vehicle by using the detected operation input value, wherein the plural anticipated motion state quantities of the vehicle represent the vehicle motion state, that relates to a turn of the vehicle and can be sensed by a driver, and are in the predetermined relation of exponential function or in the predetermined relation of exponentiation function with the operation input value to the steering handle; turning angle calculating means that calculates a turning angle of the steered wheels necessary for the vehicle to turn with each of the anticipated motion state quantities calculated by the motion state quantity calculating means by using each of the anticipated motion state quantities; turning angle deciding means that selects and decides at least one turning angle, among each of the turning angles, that correspond to each of the anticipated motion state quantities and are calculated by the turning angle calculating means, based upon the vehicle speed detected by the vehicle speed detecting means; and turning control means that controls the turning actuator according to the turning angle decided by the turning angle deciding means for turning the steered wheels into the decided turning angle.