Honda Motor Co., Ltd.
VEHICLE CONTROL DEVICE AND VEHICLE

Abstract:

The present invention includes: a camera that captures a vehicle forward-view image; a reference line recognizer that recognizes at least one reference line from the vehicle forward-view image; a calculator that calculates a yaw angle of a host vehicle with respect to the reference line; a vehicle controller that calculates a torque command value which generates a yaw in such a direction that the yaw angle with respect to the reference line decreases as the yaw angle increases; and a steering controller that controls the yaw of the vehicle depending on the torque command value.