US Patent 11400918 Vehicle control device

A vehicle control device to be installed in a vehicle includes a self-driving controller and a calculator. The self-driving controller is configured to set a target vehicle speed and a target steering angle to allow the vehicle to trace a predetermined target travel locus. The self-driving controller is configured to control the vehicle based on the target vehicle speed and the target steering angle. The calculator is configured to calculate a deviation between an index of an actual vehicle behavior and an index of a reference vehicle behavior. The self-driving controller corrects one or both of the target vehicle speed and the target steering angle in accordance with an increase of the deviation, so as to stabilize the vehicle.