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:

• a passage determination unit configured to determine that the vehicle has passed over the change source;
• an impulse calculation unit configured to calculate an impulse acting on the vehicle when the vehicle passes over the change source and that outputs impulse information corresponding to the calculated impulse;
• and
• a braking/driving calculation unit configured to calculate the driving force and the braking force after the vehicle has passed over the change source based on the impulse information, wherein
• the impulse calculation unit is configured to calculate a velocity impulse based on the vehicle speed which changes when passing over the change source and a braking/driving impulse based on the driving force and the braking force which change when passing over the change source, and
• the braking/driving calculation unit configured to calculate, in response to the passage determination unit determining that the vehicle has passed over the change source, the driving force and the braking force based on a variation of a disturbance impulse when having passed over the change source, when the disturbance impulse is a difference between the velocity impulse and the braking/driving impulse.