Patent ID: 8229627

Claim:
A vehicle steering apparatus including an actuator for assisting steering operation of a steering wheel, the apparatus comprising: a steering-torque sensor for detecting steering torque input from the steering wheel; returning-torque determination means for determining a returning torque based on the steering torque detected by the steering-torque sensor and a steering angle of the steering wheel for assisting the steering operation when the steering wheel is returned such that the returning torque decreases as the absolute value of the steering torque detected by the steering-torque sensor increases and the returning torque increases as the steering angle increases; and drive control means for driving and controlling the actuator in accordance with the returning torque determined by the returning-torque determination means, wherein the returning-torque determination means includes reference-returning-torque determination means for determining a reference returning torque, which is a reference value of torque when the steering wheel is returned from a rotated position to a neutral position so as to assist returning of the steering wheel to the neutral position, based on the steering angle with reference to a reference-returning-torque command value table such that the reference returning torque increases as the steering angle increases and returning-torque-gain determination means for determining a gain associated with the reference returning torque based on the detected steering torque such that the gain decreases as the absolute value of the steering torque detected by the steering-torque sensor increases, and wherein the returning torque is determined on the basis of the reference returning torque determined by the reference-returning-torque determination means and the gain determined by the returning-torque-gain determination means.