Abstract: In a steering device for a vehicle, the movement of a steering actuator driven by operation of an operating member is transmitted to vehicle wheels, in such a manner that the steering angle changes, without the operating member being coupled mechanically to the vehicle wheels. A first target yaw rate is calculated in accordance with the detected vehicle speed and a first steering angle set value, which corresponds to the detected amount of operation and vehicle speed. A second target yaw rate corresponding to the detected lateral acceleration and vehicle speed is calculated. A second steering angle set value, which corresponds to the difference between the detected yaw rate and a target yaw rate, as which the first target yaw rate or the second target yaw rate whichever has the smaller absolute value is taken, is calculated.