Moving body

A moving body having a steering device and a steering control device which controls the steering device to control steering of the moving body, wherein

• the moving body includes a traveling support system configured to perform traveling support including automatic steering,
• the steering control device is configured to
• selectively perform a first steering control which controls the steering of the moving body based on a movement status of the moving body and a second steering control which limits the steering of the moving body, and
• perform the second steering control based on a steering state of the moving body by the first steering control before occurrence of a failure when the failure related to execution of the first steering control occurs in a state where the first steering control is performed,
• the second steering control includes a steering angle maintenance control for maintaining a steering angle of a wheel of the moving body to a value based on a steering state of the moving body by the first steering control, and
• the steering control device is further configured to perform a torque maintenance control for maintaining torque of an actuator included in the steering device to a value based on the steering state of the moving body by the first steering control based on the failure occurring and the steering angle maintenance control not being possible.