CONTROL DEVICE AND STEERING DEVICE

A control device (140) includes an electronic control unit. The electronic control unit determines a right steering command value and a left steering command value. The electronic control unit acquires path information indicating a target path for the vehicle (101). The electronic control unit corrects a steering command value such that the vehicle (101) travels along the target path. The electronic control unit corrects the right steering command value and the left steering command value so as to bring the distribution ratio between a skid angle of a right steered wheel (120) and a skid angle of a left steered wheel (110) to a target distribution ratio.