Steering control device

A steering control device for controlling a reaction force actuator that generates a reaction force against an operation of a driver in a steering wheel of a vehicle,

• wherein the reaction force in a nonlinear region where a cornering force characteristic that is the relationship between the slip angle and the lateral force of tires of the vehicle becomes nonlinear is increased more than that in a linear region where the cornering force characteristic becomes linear,
• wherein the steering angle of the steering wheel operated by the driver is acquired,
• wherein the reaction force is increased according to an increase in the steering angle in the nonlinear region,
• wherein the lateral acceleration of the vehicle and turning torque for turning the tires are acquired,
• wherein the rate of change between the increased amount of the lateral acceleration and the increased amount of the turning torque is calculated in a region where the relationship between the lateral acceleration and the turning torque becomes linear, and
• wherein the nonlinear degree of the cornering force characteristic is calculated on the basis of the difference between a reference turning torque obtained by multiplying the rate of change by the lateral acceleration and the turning torque.