According to a steering control method, before starting, a pattern steering angle table on which pattern steering angles for the front and rear wheels at respective change points of the track are listed is prepared in view of a track condition, etc. from a departure point to a destination point, a vehicle is steered in accordance with a pattern steering angle read from the table, a track widthwise position of the vehicle on running is detected so as to calculate correcting steering angles by which the track widthwise position of the vehicle coincides with a desired position, and the correcting steering angles are added to pattern steering angles so as to obtain desired steering angles by which the front wheels are steered. The pattern steering angle, the corrected steering angle and the desired steering angle are calculated for each of the front and rear wheels, independent from each other.
