Steering device for a vehicle

A steering device for a vehicle comprising:

• a steering wheel operated by a driver;
• a sub-steering mechanism for mechanically adding an auxiliary steering angle to a turning angle of the steering wheel;
• a steering mechanism for turning wheels for steering;
• a reaction control mechanism for giving the steering wheel a reaction torque by energizing the sub-steering mechanism with a drive torque;
• a wheel steering angle control mechanism for driving the steering mechanism;
• a reaction torque detection means for detecting the reaction torque produced in the steering wheel;
• a wheel steering angle detection means for detecting the wheel steering angles of the wheels;
• a steering wheel steering angle detection means for detecting a steering wheel angle when the steering wheel is operated;
• a target wheel steering angle production means for producing a target wheel steering angle on the basis of the steering wheel angle detected by the steering wheel steering angle detection means;
• a wheel steering angle control means for controlling the wheel steering angles of the wheels turned for steering by driving the wheel steering angle control mechanism so that the wheel steering angles detected by the wheel steering angle detection means and the target wheel steering angle produced by the target wheel steering angle production means coincide with each other;
• a target reaction production means for producing a target reaction on the basis of the steering wheel angle detected by the steering wheel steering angle detection means;
• a first reaction torque control means for controlling the reaction torque produced in the steering wheel by driving the reaction control mechanism so that the reaction torque detected by the reaction torque detection means and the target reaction produced by the target reaction production means coincide with each other;
• a second reaction torque control means for compensating an output from the wheel steering angle control means so that the reaction torque detected by the reaction torque detection means and the target reaction produced by the target reaction production means coincide with each other;
• a reaction control limitation means for limiting an output from the first reaction torque control means on the basis of a limit value;
• and
• limit range setting means for setting the limit value used by the reaction control limitation means.