Vehicle control device

A vehicle control device to be mounted on a vehicle, the vehicle control device comprising:

• a processor and a memory storing instructions configured to implement:
• a target steering angle calculation unit configured to calculate a target steering angle according to a target position to which the vehicle is to be moved or a situation of a steering angle;
• a ratio determination unit configured to determine a ratio of steering angles of a front wheel and a rear wheel of the vehicle based on a front-rear acceleration of the vehicle;
• a steering angle calculation unit configured to calculate, for the front wheel and the rear wheel, steering angles determined by multiplying the target steering angle by the ratio;
• a control unit configured to instruct the front wheel and the rear wheel about the calculated steering angles of the front wheel and the rear wheel;
• and
• a correction calculation unit configured to determine a correction value based on a yaw angle of the vehicle, wherein
• the steering angle calculation unit calculates, for the front wheel and the rear wheel, steering angles obtained by correcting, with the correction value, values determined by multiplying the target steering angle by the ratio.