STEERING CONTROL METHOD AND STEERING DEVICE

In this steering control method, a current state (S1), which is the current state of a vehicle, is detected, a target state (S2), which is the target value of the state of the vehicle, is set, and a first steering command value and a second steering command value, which have a time difference from each other, are calculated on the basis of the deviation between the current state and the target state. A first steering motor for driving a steering mechanism is driven on the basis of a first steering command value and a second steering motor for driving the steering mechanism is driven on the basis of a second steering command value as steering command values for driving the steering mechanism for steering steered wheels of a vehicle (S7). 本发明的操舵控制方法中，检测车辆的当前的状态即当前状态(S1)，设定车辆的状态的目标值即目标状态(S2)，基于当前状态与目标状态之间的偏差运算出相互设有时间差的第一转舵指令值和第二转舵指令值，作为用于驱动对车辆的转向轮进行转舵的转舵机构的转舵指令值(S3～S5)，基于第一转舵指令值对驱动转舵机构的第一转舵电动机进行驱动，基于第二转舵指令值对驱动转舵机构的第二转舵电动机进行驱动(S7)。