To restrict movement of a rear wheel to the outside of a reference line regarding turning of the vehicle, in a vehicle that is turned by steering the rear wheel.

A rear wheel steering angle δ is controlled so that the rear wheel 18 moves on the inner side reference line L* while a rotation axis line LR of the rear wheel maintains a posture perpendicular to an inner side reference line L* in a plan view. Moreover, the rear wheel steering angle δ is increased until the angle comes closer to a target steering angle δref. Accordingly, the vehicle can make a U-turn so that the rear wheels 18 is not out of range of the reference line L* even if a distance W from the reference line L* of a space available to the U-turn is small when the vehicle makes the U-turn.