Steering apparatus for vehicle

A steering apparatus for a vehicle comprising:

• a steering operating means;
• a steering mechanism which is not mechanically connected to the steering operating means;
• a vehicle speed sensor detecting vehicle speed;
• a steering angle sensor detecting a moved position of the steering operating means;
• a moved position sensor detecting an actual moved position of the steering mechanism;
• a reaction force motor applying a reaction force torque to the steering operating means;
• and
• a processor calculating a target value for the reaction force torque on the basis of (a) a self-aligning torque term based on a detected value of the vehicle speed sensor and a detected value of the moved position sensor, (b) an elastic resistance torque term which is proportional to a deviation between a detected value of the steering angle sensor and a detected value of the moved position sensor, and (c) an inertial resistance torque term which is proportional to a time varying amount of the deviation,
• whereby the application of the reaction force to the steering operating means is controlled by driving the reaction force motor on the basis of the calculated target value.