A vehicle configured to travel on a preset travel route, the vehicle comprising: a plurality of tires (11 - 14) including a first tire and a second tire , and each configured to be set at a different steering angle; and a processing device configured to set a steering angle of each of the plurality of tires (11 - 14), wherein the processing device is configured to: when the vehicle deviates from the travel route and returns to the travel route, determine a return position on the travel route, and calculate a target position of the first tire and a target position of the second tire that allow the vehicle to travel on the travel route when located at the return position; find a common central point at which a difference between a distance from a current position of the first tire and a distance from the target position of the first tire is within a predetermined range and a difference between a distance from a current position of the second tire and a distance from the target position of the second tire is within a predetermined range; and set the steering angle of each of the plurality of tires (11 - 14) so that the tire will be oriented in a direction of a tangent to a clearance circle whose center is the common central point and whose radius is a distance to the common central point or oriented in a direction whose angle difference from the direction of the tangent is within a predetermined range. a plurality of tires (11 - 14) including a first tire and a second tire , and each configured to be set at a different steering angle; and a processing device configured to set a steering angle of each of the plurality of tires (11 - 14), wherein the processing device is configured to: when the vehicle deviates from the travel route and returns to the travel route, determine a return position on the travel route, and calculate a target position of the first tire and a target position of the second tire that allow the vehicle to travel on the travel route when located at the return position; find a common central point at which a difference between a distance from a current position of the first tire and a distance from the target position of the first tire is within a predetermined range and a difference between a distance from a current position of the second tire and a distance from the target position of the second tire is within a predetermined range; and set the steering angle of each of the plurality of tires (11 - 14) so that the tire will be oriented in a direction of a tangent to a clearance circle whose center is the common central point and whose radius is a distance to the common central point or oriented in a direction whose angle difference from the direction of the tangent is within a predetermined range. when the vehicle deviates from the travel route and returns to the travel route, determine a return position on the travel route, and calculate a target position of the first tire and a target position of the second tire that allow the vehicle to travel on the travel route when located at the return position; find a common central point at which a difference between a distance from a current position of the first tire and a distance from the target position of the first tire is within a predetermined range and a difference between a distance from a current position of the second tire and a distance from the target position of the second tire is within a predetermined range; and set the steering angle of each of the plurality of tires (11 - 14) so that the tire will be oriented in a direction of a tangent to a clearance circle whose center is the common central point and whose radius is a distance to the common central point or oriented in a direction whose angle difference from the direction of the tangent is within a predetermined range. <EOS>