Vehicle control device

A vehicle control device configured to control a driving force and a braking force of a vehicle passing over a change source which changes a vehicle speed by a wheel of the vehicle passing over or descending, comprising:

• an impulse calculation unit configured to calculate an impulse acting on the vehicle when the vehicle passes over the change source and outputs impulse information corresponding to the calculated impulse;
• a passage determination unit configured to determine passage over the change source, based on the impulse information output by the impulse calculation unit;
• and
• a braking/driving calculation unit configured to calculate the driving force and the braking force when passing over the change source, based on a determination result of the passage determination unit, wherein
• the impulse calculation unit is configured to calculate, as the impulse information, a velocity impulse based on the vehicle speed when passing over the change source and a braking/driving impulse based on the driving force and the braking force when passing over the change source, and
• the passage determination unit is configured to determine passage over the change source based on a difference between the velocity impulse and the braking/driving impulse calculated by the impulse calculation unit.