Steering device

A motor control device that controls drive of an electric motor for steering angle control, the motor control device comprising:

• an assist torque command value generation unit that generates an assist torque command value using steering torque;
• a manual steering command value generation unit that generates a manual steering command value using the steering torque and the assist torque command value;
• an integrated angle command value calculation unit that calculates an integrated angle command value by adding the manual steering command value to an automatic steering command value for driving assistance;
• and
• a switching unit that switches control between first control for controlling the electric motor based on the assist torque command value and second control for controlling the electric motor based on the integrated angle command value, wherein
• the switching unit is configured to switch the control to the second control when a direction change command is input by a driver operation while the control is the first control, and to switch the control to the first control when a predetermined condition is satisfied after the control is switched to the second control.