Vehicle control device

A vehicle control device comprising:

• a plurality of sensors that are provided at a front of and a rear of a vehicle and acquire information of an external world;
• a plurality of wheel speed sensors that detect the wheel speed pulses of the wheels of the vehicle;
• and
• at least one electronic control unit (ECU) which is communicably coupled to the plurality of sensors via an in-vehicle network (CAN), the at least one ECU being configured to acquire information about a feature on a road surface by a rear sensor of the plurality of sensors after a front sensor of the plurality of sensors acquires information about the same feature while the vehicle is traveling in a predetermined driving state, and acquires a wheel speed pulse count value of the vehicle from the plurality of wheel speed sensors when each of the front sensor and the rear sensor acquires the information about the same feature,
• wherein the at least one ECU is configured to correct a travel distance per wheel speed pulse count value of the vehicle based on a default measurement length of the vehicle, which is a sum of a measurement length by the front sensor and the measurement length by the rear sensor, and an increment of the wheel speed pulse count value of the vehicle when each of the front sensor and the rear sensor obtains information regarding the same feature.