Vehicle control device

A vehicle control device mounted on a vehicle with a yaw rate sensor to measure a yaw rate and a steering angle sensor to measure a steering angle, and configured to control the steering angle of the vehicle so that the yaw rate of the vehicle becomes a target yaw rate,

• the vehicle control device comprising:
• a lateral position acquisition unit configured to acquire a lateral position of the vehicle;
• a feedforward control unit configured to determine a feedforward steering angle corresponding to the target yaw rate;
• a feedback control unit configured to determine a feedback steering angle based on a yaw rate of the vehicle measured by the yaw rate sensor and a steering angle of the vehicle measured by the steering angle sensor;
• a target steering angle determination unit configured to determine a target steering angle of the vehicle based on the feedforward steering angle and the feedback steering angle;
• a wobble determination unit configured to detect a wobble of the vehicle based on a temporal change in the lateral position of the vehicle;
• and
• a correction unit configured to correct the feedback steering angle so that a variation amount with respect to an average value of the feedback steering angle in a most recent certain period is reduced when the wobble of the vehicle is detected.