A steering of a vehicle is controlled by acquiring a steering angle of the steering during the autonomous driving, and when the vehicle is autonomously stopped under a stop control at a boarding area and a stop steering angle of the steering after the stop control completes falls outside an allowable angle range including the steering angle when the vehicle travels straight, performing a reset control for the steering to return the stop steering angle to a specified steering angle within the allowable angle range. A linkage between the steering and a tire is disconnected when performing the reset control.