A steering intention determination device comprising: a steering type discrimination value calculation unit configured to calculate a steering type discrimination value showing a driver's steering type with respect to a steering wheel based on the product of a steering angular velocity and a steering torque during the driver's steering operation at the steering wheel, characterized by: the steering type discrimination value calculation unit being configured to calculate the steering type discrimination value further based on the product of the time differential values of a steering torque and the steering angle during the steering operation; and a steering intention determination unit configured to determine that the driver has a turn-and-steer steering intention in a case where the steering type discrimination value is equal to or greater than a predetermined value, determine that the driver has a steering holding intention in a case where the steering type discrimination value is less than the predetermined value and the absolute value of the steering angular velocity is less than a predetermined angular velocity, and determine that the driver has a switchback steering intention in a case where the steering type discrimination value is less than the predetermined value and the absolute value of the steering angular velocity is equal to or greater than the predetermined angular velocity. a steering type discrimination value calculation unit configured to calculate a steering type discrimination value showing a driver's steering type with respect to a steering wheel based on the product of a steering angular velocity and a steering torque during the driver's steering operation at the steering wheel, characterized by: the steering type discrimination value calculation unit being configured to calculate the steering type discrimination value further based on the product of the time differential values of a steering torque and the steering angle during the steering operation; and a steering intention determination unit configured to determine that the driver has a turn-and-steer steering intention in a case where the steering type discrimination value is equal to or greater than a predetermined value, determine that the driver has a steering holding intention in a case where the steering type discrimination value is less than the predetermined value and the absolute value of the steering angular velocity is less than a predetermined angular velocity, and determine that the driver has a switchback steering intention in a case where the steering type discrimination value is less than the predetermined value and the absolute value of the steering angular velocity is equal to or greater than the predetermined angular velocity. the steering type discrimination value calculation unit being configured to calculate the steering type discrimination value further based on the product of the time differential values of a steering torque and the steering angle during the steering operation; and a steering intention determination unit configured to determine that the driver has a turn-and-steer steering intention in a case where the steering type discrimination value is equal to or greater than a predetermined value, determine that the driver has a steering holding intention in a case where the steering type discrimination value is less than the predetermined value and the absolute value of the steering angular velocity is less than a predetermined angular velocity, and determine that the driver has a switchback steering intention in a case where the steering type discrimination value is less than the predetermined value and the absolute value of the steering angular velocity is equal to or greater than the predetermined angular velocity.