Steering control device

A steering control device configured to control a steering device, the steering device including a steering shaft, a turning wheel of a vehicle, the turning wheel being configured to turn along with rotation of the steering shaft, and a motor configured to rotate the steering shaft,

• the steering control device comprising a processor configured to execute:
• a target rudder angle variable acquisition process of acquiring a value of a target rudder angle variable, the target rudder angle variable being a variable that indicates a target value of a turning angle of the turning wheel;
• a traveling route information acquisition process of acquiring information about a traveling route of the vehicle;
• a target rudder angle correction process of correcting the value of the target rudder angle variable by a play compensation amount corresponding to a steering direction, the steering direction being a direction in which the value of the target rudder angle variable changes;
• a restriction process of restricting a magnitude of the play compensation amount to a small side depending on the traveling route at a current position of the vehicle and the traveling route at a movement-directional forward position;
• and
• a rudder angle control process of operating the motor by a control in which a steering angle depending on a rotation angle of the steering shaft is adopted as a control amount and the value of the target rudder angle variable is adopted as a target value of the control amount.