Steering device for vehicle

1. A motor vehicle steering apparatus, comprising:

a steering-angle feedforward-control-value setting unit arranged to set a steering angle value that corresponds to a steering state;

a vehicle-behavior-stabilization controlling unit including a steering-angle feedback-control-value setting unit arranged to set a steering-angle correction value that corresponds to vehicle behavior; and

a feedback-gain changing unit arranged to decrease a gain of the steering-angle feedback-control-value setting unit to a value less than at a normal time, when the steering-angle correction value is equal to or less than a predetermined value, during vehicle-behavior stabilizing control by the vehicle-behavior-stabilization controlling unit.

2. The motor vehicle steering apparatus according to claim 1 , further comprising an operation determining unit arranged to determine whether a driver performs steering operation, wherein

the feedback-gain changing unit decreases the gain of the steering-angle feedback-control-value setting unit to a value less than at a normal time, on condition that the driver performs the steering operation.

3. The motor vehicle steering apparatus according to claim 1 , further comprising a feedforward-gain changing unit arranged to increase the gain of the steering-angle feedforward-control-value setting unit to a value more than at a normal time, when the steering-angle correction value is equal to or less than the predetermined value, during vehicle-behavior stabilizing control by the vehicle-behavior-stabilization controlling unit.

4. The motor vehicle steering apparatus according to claim 3 , further comprising an operation determining unit arranged to determine whether a driver performs steering operation, wherein

the feedforward-gain changing unit increases the gain of the steering-angle feedforward-control-value setting unit to a value more than at a normal time, on condition that the driver performs the steering operation.

5. The motor vehicle steering apparatus according to claim 1 , further comprising:

an operation-counter-force adjusting unit arranged to adjust an operation counter-force of an operation member; and

an operation-counter-force controlling unit arranged to control the operation-counter-force adjusting unit such that an operation counter-force becomes smaller than at a normal time, when the steering-angle correction value is equal to or less than the predetermined value, during vehicle-behavior stabilizing control by the vehicle-behavior-stabilization controlling unit.

6. The motor vehicle steering apparatus according to claim 5 , further comprising an operation determining unit arranged to determine whether a driver performs steering operation, wherein

the operation-counter-force controlling unit controls the operation-counter-force adjusting unit such that the operation counter-force becomes smaller than at a normal time, on condition that the driver performs the steering operation.

7. The motor vehicle steering apparatus according to claim 1 , wherein

the predetermined value is set substantially equal to an upper-limit value of a steering angle correctable by a driver.

8. The motor vehicle steering apparatus according to claim 1 , further comprising

a feedforward-gain changing unit arranged to increase the gain of the steering-angle feedforward-control-value setting unit to a value more than at a normal time, when the steering-angle correction value is equal to or less than the predetermined value, during vehicle-behavior stabilizing control by the vehicle-behavior-stabilization controlling unit, and

an operation determining unit arranged to determine whether a driver performs steering operation, wherein

the feedback-gain changing unit decreases the gain of the steering-angle feedback-control-value setting unit to a value less than at a normal time, on condition that the driver performs the steering operation.

9. The motor vehicle steering apparatus according to claim 1 , further comprising

a feedforward-gain changing unit arranged to increase the gain of the steering-angle feedforward-control-value setting unit to a value more than at a normal time, when the steering-angle correction value is equal to or less than the predetermined value, during vehicle-behavior stabilizing control by the vehicle-behavior-stabilization controlling unit, and

an operation determining unit arranged to determine whether a driver performs steering operation, wherein

the feedback-gain changing unit decreases the gain of the steering-angle feedback-control-value setting unit to a value less than at a normal time, on condition that the driver performs the steering operation, and the feedforward-gain changing unit increases the gain of the steering-angle feedforward-control-value setting unit to a value more than at a normal time, on condition that the driver performs the steering operation.