Steering control apparatus

A steering control apparatus comprising:

• an assist controller configured to perform a first control task that generates an assist command for generating assist torque, the assist torque reducing a load of a driver's steering of a steering wheel installed in a vehicle;
• a tracking controller configured to perform a second control task that generates a tracking command for generating automatic assist torque, the automatic assist torque causing a measurement value of a physical value associated with the steering to follow a target value for the physical value;
• a motor driver configured to drive, based on the assist command and the tracking command, the motor to thereby generate the assist torque and the automatic steering torque;
• a state determiner configured to determine whether a driver's steering state is a biased steering state or a return steering state, the biased steering state representing a state in which the driver applies a torque in a direction identical to a steering direction of the automatic steering, the return steering state representing a state in which the driver applies a torque in a direction opposite to the steering direction of the automatic steering, the state determiner determining whether the driver's steering state is the biased steering state or the return steering state in accordance with:
• a first parameter associated with steering torque based on the driver's steering;
• and
• a second parameter associated with an angular velocity of the motor;
• and
• a ratio changer configured to change a ratio of the assist torque to the automatic steering torque in accordance with a determination result of the state determiner.