Patent ID: 7360614

Claim:
A steering apparatus for controlling left and right drive wheels of a vehicle, comprising: a driving force control section to control left and right driving forces of the left and right drive wheels individually in accordance with a running condition of the vehicle; a power assistance device to add a steering assistance force to a driver's steering input force input to a steering input device; a steering mechanism to link the left and right drive wheels with the steering input device so that the left and right drive wheels are turned in accordance with the driver's steering input force and the steering assistance force added thereto; a steering reaction force calculating section to calculate a steering reaction force acting on the steering input device in accordance with a difference between the left and right driving forces; and a steering force correcting section to correct the steering assistance force so as to compensate the steering reaction force by varying the steering assistance force in accordance with a turning direction of the vehicle, wherein the steering force correcting section is configured to decrease the steering assistance force when the driving force control section controls the left and right driving forces of the left and right drive wheels in a direction to improve a yawing response of the vehicle, and to increase the steering assistance force when the driving force control section controls the left and right driving forces of the left and right drive wheels in a direction to restrain the yawing response of the vehicle.