Vehicle control device including control based on determined ruts in the road

Abstract

A vehicle control device includes: a steering device, a steering control device, a surroundings monitoring device, and a controller. The controller is configured to execute: a route calculating process of calculating a target route, a trajectory calculating process of calculating a target trajectory of an own vehicle in one or more roads of the target route; a steering-angle calculating process of calculating a target steering angle; a behavior detecting process of detecting information on a behavior of the own vehicle; a rut determining process of determining presence or absence of a rut on the target trajectory based on a detection result obtained by the surroundings monitoring device and/or a detection result obtained in the behavior detecting process, a drivable or non-drivable determining process of determining whether the own vehicle is drivable over the rut, and a correcting process of correcting the target trajectory and/or the target route.