CPC B60L 15/2036 (2013.01) [B60L 3/102 (2013.01); B60L 2240/12 (2013.01); B60L 2240/423 (2013.01); B60L 2240/465 (2013.01)] | 12 Claims |
1. A vehicle control device that calculates a vehicle body velocity of a vehicle, comprising
a sensor that obtains information corresponding to respective wheel velocities of left and right wheels arranged along a vehicle width direction; and
a calculator that calculates, when the left and right wheels are not slipping, an average value of the wheel velocities as the vehicle body velocity, and calculates, when at least one of the left and right wheels is slipping, the vehicle body velocity based on the average value and a lower velocity value being a lower one of the wheel velocities.
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