VEHICULAR CONTROL DEVICE AND VEHICULAR CONTROL METHOD

A vehicular control device usable for a vehicle that executes autonomous traveling control is provided. The vehicular control device acquires performance information on performance of the vehicle, determines a range of request value estimated to guarantee specified accuracy, determines a braking/driving force required for traveling planned by the autonomous traveling control, and determines a high controllability device and a low controllability device from among a driving device and a brake device. The vehicular control device determines allocation of the required braking/driving force to the driving device and the brake device, such that: the braking/driving force allocated to the low controllability device is a fixed value within the range of request value. The vehicular control device controls the driving force and the braking force so that the driving force generated from the driving device and the braking force generated from the brake device match the allocated values.