Vehicle steering device

A vehicle steering device comprising:

• an electric motor that applies a steering force to a turning mechanism of a vehicle;
• a microcomputer configured to:
• set a target assist torque in accordance with a steering torque;
• set an angle controlling target torque for reducing an angular deviation between a target steering angle and an actual steering angle;
• restrict the angle controlling target torque set by the microcomputer;
• calculate a target automatic steering torque using the angle controlling target torque after restricting the angle controlling target torque;
• and
• determine a first weighting factor, determine a second weighting factor, and perform weighted addition of the target automatic steering torque and the target assist torque with the first weighting factor and the second weighting factor in accordance with a value that changes in accordance with a driver input to calculate a target motor torque that is a target value of a motor torque of the electric motor, and
• a drive circuit configured to control the electric motor based on the target motor torque calculated by the microcomputer.