VEHICLE STEERING DEVICE

To provide a vehicle steering device that can perform motor control by which backlash is compensated in a new manner different from the conventional examples.SOLUTION: An electric motor control unit includes: a backlash compensation steering angle estimation unit that sets the amount of change in a steering angle in each predetermined time within a backlash range to zero, defines as a backlash compensation steering angle a value corresponding to an integrated value of the amount of change in the steering angle in each predetermined time from a handle neutral position to the present, and then estimates a backlash compensation steering angle by using the steering angle; and an angle control unit that controls an electric motor such that a deviation between a steering angle command value as a target steering angle for automatic steering and the backlash compensation steering angle approaches zero.SELECTED DRAWING: Figure 3 【課題】従来例とは異なる新規な方法であそびを補償したモータ制御を行うことができる車両用操舵装置を提供する。【解決手段】電動モータ制御部は、あそび範囲内での所定時間毎の操舵角変化量を零に設定して、ハンドル中立位置から現在までの所定時間毎の操舵角変化量を積算した値に相当する値を、あそび補償用操舵角とすると、操舵角を用いてあそび補償用操舵角を推定するあそび補償用操舵角推定部と、自動操舵のための目標操舵角である操舵角指令値とあそび補償用操舵角との偏差が零に近づくように電動モータを制御する角度制御部とを含む。【選択図】図３