Steering control device

A steering control device comprising a control circuit that controls a steering device, the steering device including a housing, a turning shaft contained in the housing so as to be capable of reciprocating, and an actuator configured to give motor torque by which the turning shaft reciprocates using a motor as a drive source,

• the control circuit being configured to detect an absolute steer angle that is indicated by an absolute angle having a range beyond 360°, the absolute steer angle being a rotation angle of a rotation shaft and being capable of being converted into a turning angle of a turning wheel that is coupled to the turning shaft,
• the control circuit being configured to compute a current command value corresponding to a target value of the motor torque to be output by the motor,
• the control circuit being configured to control driving of the motor such that an actual current value of electric current to be supplied to the motor becomes the current command value,
• the control circuit being configured to store an end position correspondence angle associated with the absolute steer angle, the end position correspondence angle being an angle indicating an end position where movement of the turning shaft is restricted by end abutting in which the turning shaft abuts on the housing,
• the control circuit being configured to execute an end-abutting relaxation control to correct the current command value such that decrease in an end interval angle is restricted, when the end interval angle is equal to or smaller than a predetermined angle, the end interval angle indicating a distance of the absolute steer angle from the end position correspondence angle,
• the control circuit being configured to perform a slewing intention determination of whether it is intended to perform slewing travel of a vehicle during the execution of the end-abutting relaxation control, and being configured to perform a partial release control to reduce a correction amount of the current command value in the execution of the end-abutting relaxation control when it is determined that it is intended to perform the slewing travel of the vehicle.