US Patent 9950777 Vehicle control device and method of controlling vehicle

A vehicle control device is provided. The device includes a target bearing calculating module configured to calculate a target bearing of a vehicle based on a direction of a disturbance, a stern bearing calculating module configured to calculate a stern bearing, and a rudder mechanism drive signal determining module configured to determine a rudder angle command so that the stern bearing approaches the target bearing, and determine a rudder mechanism drive signal based on the rudder angle command.