A vehicle controller configured to control an actuator that generates power for steering steered wheels and that applies the power to a steering mechanism of a vehicle, the vehicle controller configured to control the actuator using at least one of a first component (Ta1*) that is a command calculated based on an operation state quantity that varies in response to a driver's operation of the steering mechanism and a second component (Ta2*) that is a command calculated based on a vehicle surrounding environment, the vehicle controller comprising: a count amount calculating circuit configured to calculate a count amount that is an index for determining whether a driver has indicated an intention to intervene in the steering steered wheels, based on the operation state quantity; a sum calculating circuit configured to calculate a total sum (Ca) by adding together the count amount calculated by the count amount calculating circuit and the count amount (Co) calculated in a prescribed past period by the count amount calculating circuit; a determination circuit configured to determine whether or not the driver has an intention to intervene in the steering based on whether or not the sum (Ca) calculated by the sum calculating circuit is equal to or greater than a count amount threshold value (Tc); and a switching circuit configured to decrease the second component when the determination circuit determines that the driver has an intention to intervene in the steering, and configured to maintain the second component (Ta2*) when the determination circuit determines that the driver does not have an intention to intervene in the steering, characterized in that the count amount calculating circuit is configured to calculate a count amount having a positive value when an absolute value of the operation state quantity is equal to or greater than a threshold value, and is configured to calculate a count amount having a negative value when the absolute value of the operation state quantity is less than the threshold value, the sum calculating circuit is configured to calculate a total sum of the calculated count amount (Ca) and the count amount calculated in the prescribed past period, as the sum, and the determination circuit is configured to determine that the driver has an intention to intervene in the steering when the total sum of the count amounts (Ca') is equal to or greater than the count amount threshold value (Tc), and is configured to determine that the driver does not have an intention to intervene in the steering when the total sum of the count amounts (Ca') is less than the count amount threshold value (Tc). a count amount calculating circuit configured to calculate a count amount that is an index for determining whether a driver has indicated an intention to intervene in the steering steered wheels, based on the operation state quantity; a sum calculating circuit configured to calculate a total sum (Ca) by adding together the count amount calculated by the count amount calculating circuit and the count amount (Co) calculated in a prescribed past period by the count amount calculating circuit; a determination circuit configured to determine whether or not the driver has an intention to intervene in the steering based on whether or not the sum (Ca) calculated by the sum calculating circuit is equal to or greater than a count amount threshold value (Tc); and a switching circuit configured to decrease the second component when the determination circuit determines that the driver has an intention to intervene in the steering, and configured to maintain the second component (Ta2*) when the determination circuit determines that the driver does not have an intention to intervene in the steering, characterized in that the count amount calculating circuit is configured to calculate a count amount having a positive value when an absolute value of the operation state quantity is equal to or greater than a threshold value, and is configured to calculate a count amount having a negative value when the absolute value of the operation state quantity is less than the threshold value, the sum calculating circuit is configured to calculate a total sum of the calculated count amount (Ca) and the count amount calculated in the prescribed past period, as the sum, and