Steering control device

Abstract

To provide a steering control device which can properly secure vehicle control performance at a drive limit of any steering actuator, in an independent steering vehicle having three or more wheels.SOLUTION: A steering control device 501 controls, for a vehicle 100 in which three or more wheels 91-94 not mechanically bound to each other can be steered independently, steering of each of the wheels. Steering actuator control parts 601-604 are provided in correspondence with a plurality of steering actuators 71-74 that respectively steer the wheels, and control drive currents such that steering angles output by the steering actuators 71-74 reach desired values. A reaction actuator control part 56 controls driving of a reaction actuator 57 in a steering mechanism of a steer-by-wire system. The steering actuator control parts 601-604 and the reaction actuator control part 56 perform communication on driving limit information, and limit, on the basis of the driving limit information, driving of the steering actuators 71-74 and the reaction actuator 57.SELECTED DRAWING: Figure 1

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