To provide a steering device for a vehicle capable of turning the vehicle with good responsiveness in compliance with the operating trend of a steering handle by the driver.

An electronic control unit 35 works so as to enter the steering angle θ and the steering torque T at Step S11, and decides the target lateral acceleration Gma based on the steering angle θ and the target lateral acceleration Gmt based upon the torque T, at Steps S12 and S13, as the motion conditional amount of the vehicle. Also at Steps S14 and S15 the unit 35 decides the weighing parameter K1 based on the steering angle θ and the weighing parameter K2 based on the steering angular velocity dθ/dt, and calculates the estimate lateral acceleration G, at Step S16, using K1 and K2 and also Gma and Gmt. At Step S17, the target steering angle δf is calculated using the lateral acceleration G, and at S18 and S19 the front wheels are steered to the target steering angle δf. Thereby the vehicle can be turned with good responsiveness in compliance with the steering trend of the driver.

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