Steering system

A steer-by-wire type steering system comprising:

• an operation unit including an operation member for steering operation by a driver and a reaction force applying device for applying an operation reaction force to the operation member,
• a steering unit mechanically separated from the operation unit and configured to steer at least one wheel in accordance with a supplied steering current, and
• a controller configured to control the steering unit and the reaction force applying device based on an operation signal related to an operation of the operation member received from the operation unit and a steering angle signal related to an actual steering angle of the wheel received from the steering unit,
• wherein the controller includes a plurality of control modes each having a different steering characteristic,
• wherein the controller is configured to change, in response to switching of the control mode, the steering characteristic by executing a plurality of characteristic change controls each configured to change a predetermined control parameter related to a control of the reaction force applying device and/or the steering unit, and
• wherein, in response to the switching of the control mode, the controller is configured to:
• execute, when it is determined that a vehicle state satisfies a predetermined condition, one or more of the plurality of characteristic change controls, and
• execute, regardless of whether the vehicle state satisfies the predetermined condition, another one or more of the plurality of characteristic change controls.