Honda Motor Co., Ltd.
VEHICLE CONTROL DEVICE, VEHICLE CONTROL METHOD, AND STORAGE MEDIUM

Abstract:

A vehicle control device includes: a first line generator configured to generate a first line based on a shape of a road in a travel direction of a vehicle; a second line generator configured to generate a second line such that the second line is closer to the first line than in an initial state at a target arrival point by using the initial state including at least a lateral difference between the vehicle and the first line and a target state including at least the target arrival point as parameters of a geometric curve; a third line generator configured to generate a third line based on a target value for causing a lateral difference between the first line and the second line to approach zero by feedback control; and a travel controller configured to cause the vehicle to travel based on the third line.