| CPC B62D 6/008 (2013.01) [B62D 5/0481 (2013.01); B62D 6/08 (2013.01)] | 6 Claims |
|
1. A steering device, comprising:
a steering member;
a steering operation mechanism mechanically separated from the steering member;
a reactive force motor configured to impart reactive force torque to the steering member;
a steering motor configured to drive the steering operation mechanism;
a steering torque sensor configured to detect steering torque imparted to the steering member by a user; and
an electronic control unit, wherein
the electronic control unit is configured to set a manual steering angle command value based on the steering torque,
the electronic control unit is configured to compute a reactive-force-related composite angle command value based on a reactive-force-related automatic steering angle command value and the manual steering angle command value,
the electronic control unit is configured to compute a steering-related composite angle command value based on a steering-related automatic steering angle command value and the manual steering angle command value,
the electronic control unit is configured to cause a rotational angle of the reactive force motor to follow the reactive-force-related composite angle command value,
the electronic control unit is configured to cause a rotational angle of the steering motor to follow the steering-related composite angle command value, and
the electronic control unit is configured to estimate first disturbance torque, which is torque other than motor torque of the steering motor acting on an object of driving by the steering motor.
|