Steering control device and steering control method

A steering control device that is applied to a vehicle steering system for steering traveling of a vehicle, the steering control device comprising

• a rudder angle control unit that includes control circuits configured to control a rudder angle variable in collaboration with each other and that is configured to execute a control in which the rudder angle variable obtained about the steering is referred to, wherein:
• the rudder angle control unit is configured to execute a control information setting process that includes
• setting control information that is a value indicating straight movement of the vehicle and that is a reference of the rudder angle variable, and
• a coordination process such that all of the control circuits complete the setting of the control information when the setting of the control information has been completed in a first control circuit group of the control circuits while the setting of the control information has not been completed in a second control circuit group of the control circuits;
• in the control information setting process, the rudder angle control unit enables a control to steer the traveling of the vehicle, by completing setting of the control information after an electric power source of the vehicle steering system is turned on;
• and
• the control circuits are configured to steer the traveling of the vehicle on condition that the control information has been set in all of the control circuits in the execution of the control information setting process.