Abstract: A steering counterforce device of steer-by-wire includes a shaft force estimator which estimates a shaft force of a steering actuator based on an electrical current value of the steering actuator causing steered wheels to steer, and a model steering force setter which sets a model steering force based on the shaft force estimated by the shaft force estimator. This steering counterforce device of steer-by-wire controls electrical current supplied to a steering counterforce actuator which grants counterforce torque to an operator, so that steering torque of the operator of steer-by-wire becomes a model steering force set by the model steering force setter.

Abstract: A steering counterforce device of steer-by-wire includes a shaft force estimator which estimates a shaft force of a steering actuator based on an electrical current value of the steering actuator causing steered wheels to steer, and a model steering force setter which sets a model steering force based on the shaft force estimated by the shaft force estimator. This steering counterforce device of steer-by-wire controls electrical current supplied to a steering counterforce actuator which grants counterforce torque to an operator, so that steering torque of the operator of steer-by-wire becomes a model steering force set by the model steering force setter.

Abstract: A rack axial force is estimated depending on a steering torque detected by a torque sensor and a motor actual current passed through an assist motor, a standard steering torque of the steering is calculated based on the estimated rack axial force, and the motor actual current is feedback-controlled by a FB control section in such a manner that the steering torque of the steering will be the standard steering torque.