Vehicle control device

Abstract

A vehicle control device of an embodiment is a vehicle control device that causes a vehicle to travel along a target route created by connecting a plurality of types of lines, and the vehicle control device includes a target curvature calculation unit that calculates a smoothed value of target curvatures of a plurality of points on the target route including a calculation target point and a predetermined number of points before and after the calculation target point, any one of the points being a joint of different types of lines, in order to calculate a smoothed target curvature for the calculation target point, a target steering angle calculation unit that calculates a target steering angle based on the smoothed target curvature, and a control unit that controls steering based on the target steering angle when the vehicle travels.

Dependencies are inferred from the claim text.