Steering control system for two-wheeled vehicle

A steering control system of a two-wheeled vehicle comprising:

• an actuator that includes an electric motor and applies torque to a steering shaft rotatable from a neutral position to a right direction and a left direction;
• a first sensor that detects a vehicle turning value, which is a rotation angle of the steering shaft or a roll angle of a vehicle body;
• a second sensor configured to detect a pedal pressing force;
• and
• a control device that:
• determines whether or not a push-walking state is present based on whether a pedal pressing force is applied to the pedal, wherein, when the control device determines that the push-walking state is not present;
• calculates a resistive torque which is directed in a direction opposite to a direction in which the steering shaft is rotated from the neutral position and corresponds to the vehicle turning value;
• calculates an assistive torque, which is directed in a same direction as torque acting on the steering shaft by an operation of a driver, based on the torque acting on the steering shaft or a roll angular velocity of the two-wheeled vehicle;
• calculates an output torque to be applied to the steering shaft based on the resistive torque and the assistive torque;
• wherein, when the control device determines that the push-walking state is present, the control device calculates the resistive torque, calculates the output torque based on the resistive torque, and
• controls the actuator based on the output torque.