PROBLEM TO BE SOLVED: To provide an automatic steering control device, an automatic steering control method, capable of determining a suitable steering angle by using feedforward control and feedback control in combination even when there is a large deviation between an azimuth angle and a slip angle. Provides automatic steering programs and vehicles. SOLUTION: A steering angle for correcting a deviation between an azimuth measurement value and an azimuth target value based on an azimuth measurement value which is an azimuth measurement value and an azimuth target value for traveling on a target trajectory. It depends on the shape of the road on which the vehicle travels, using the feedback control unit 206 that calculates the feedback control amount, and the motion model that assumes the sliding angle of the vehicle when the vehicle 100 travels so as to pass through the target track. A feed that calculates a feed forward control amount that includes a first steering angle component that corrects the effect on the steering angle and a second steering angle component that corrects the effect on the steering angle due to the deviation between the azimuth measurement value and the slip angle. It includes a forward control unit 207. [Selection diagram] Fig. 2
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