| 主权项 |
1. 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. |
