Vehicle control device

A vehicle control device comprising:

• a driving lane detection section configured to detect a driving lane on which own vehicle is driving;
• a basic steering amount calculation section configured to calculate a basic steering amount which is a steering control amount to drive the own vehicle on a basic route, the basic route is extended along a shape of the driving lane of the own vehicle;
• a posture detection section configured to detect a posture of the own vehicle designated by a lateral position and an angle of yaw of the own vehicle, the lateral position of the own vehicle being a position in a width direction of the driving lane, and a route direction being a tangential direction of the basic route at the position of the own vehicle, and the angle of yaw being a slope of the front direction of the own vehicle from the route direction;
• an offset distance detection section configured to detect e, as an offset distance, a distance between the basic route and the lateral position of the own vehicle;
• a correction steering amount calculation section configured to determine a virtual target point which is apart from a current position of the own vehicle by a predetermined distance in the route direction and is apart from the current position of the own vehicle by the offset distance in a width direction of the driving lane, and configured to determine, as a correction route, a virtual driving route to alien the posture of the own vehicle to a target posture of the own vehicle which is determined in advance, and configured to calculate, as the steering control amount, a correction steering amount in order to drive the own vehicle along the correction route;
• and
• an instruction steering amount calculation section configured to calculate an instruction steering amount of the own vehicle on the basis of the basic steering amount and the correction steering amount.