US 11,807,108 B2
Vehicle control device
Wataru Tanooka, Tokyo (JP); Yutaro Okamura, Tokyo (JP); Ryota Takahashi, Tokyo (JP); and Naoki Takahashi, Tokyo (JP)
Assigned to MITSUBISHI JIDOSHA KOGYO KABUSHIKI KAISHA, Tokyo (JP)
Appl. No. 17/762,918
Filed by MITSUBISHI JIDOSHA KOGYO KABUSHIKI KAISHA, Tokyo (JP)
PCT Filed Mar. 29, 2021, PCT No. PCT/JP2021/013225
§ 371(c)(1), (2) Date Mar. 23, 2022,
PCT Pub. No. WO2021/210373, PCT Pub. Date Oct. 21, 2021.
Claims priority of application No. 2020-072082 (JP), filed on Apr. 14, 2020.
Prior Publication US 2022/0396155 A1, Dec. 15, 2022
Int. Cl. B60L 15/20 (2006.01); B60L 3/10 (2006.01)
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
OG exemplary drawing
 
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.