Vehicular control device and vehicular control method

A vehicular control device that is usable for a vehicle that executes autonomous traveling control, comprising:

• at least one processor that executes a program and/or at least one dedicated circuit, configured to:
• in a braking/driving force control process, control a driving force generated from a driving device of the vehicle and a braking force generated from a brake device of the vehicle;
• in a performance information acquisition process, acquire performance information on performance of the vehicle, including a driving response delay time and a braking response delay time, wherein the driving response delay time is a response delay time of the driving device in responding to a force request and the braking response delay time is a response delay time of the brake device in responding to a force request;
• and
• in a reference output schedule determination process, without using the driving response delay time nor the braking response delay time, determine, as a reference output schedule, an output schedule of a driving force request and a braking force request for deceleration following a deceleration plan of the autonomous traveling control to stop the vehicle at a target vehicle-stop position, wherein the driving force request is a request to the driving force for the driving force and the braking force request is a request to the brake device for the braking force,
• wherein the at least one processor and/or the at least one dedicated circuit is configured to, in the braking/driving force control process,
• provide the driving device with the request for the driving force following the reference output schedule in timing earlier than the reference output schedule by an amount corresponding to the driving response delay time and
• provide the brake device with the request for the braking force following the reference output schedule in timing earlier than the reference output schedule by an amount corresponding to the braking response delay time.