US Patent 7860624 Vehicular steering control apparatus

A vehicular steering control apparatus is comprised of a steering system of receiving a steering torque inputted by a driver, a torque control actuator connected to the steering system to produce an actuator torque relative to the steering torque and a steering controlling section connected to the torque actuator. The steering controlling section controls the torque control actuator and increases a phase delay of the actuator torque relative to the steering torque toward a neighborhood of 180° as the frequency of the inputted steering torque increases.