Fecha de publicación: 22/12/2022 Fuente: WIPO (eseential oils OR extracts) Provided is a vehicle steering device comprising: an electric motor which applies warning vibrations to a steering wheel; an angle control unit which calculates a vibration torque command value on the basis of a vibration angle command value representing, with the rotation angle of a steering shaft connected to the steering wheel, an instantaneous value of a warning vibration waveform that will be a target; a high-pass filter which extracts only a high-frequency component of the vibration torque command value; and a torque control unit which applies torque control to the electric motor on the basis of a motor torque command value containing the high-frequency component of the vibration torque command value. The angle control unit includes a feedback control unit which executes feedback control calculation for an angle difference between the vibration angle command value and a rotation angle corresponding to the rotation angle of the steering shaft to calculate a feedback control torque and is configured to use the feedback control torque to calculate the vibration torque command value.