US 12,227,165 B2
Vehicle control device, vehicle control method, and vehicle control system
Hiroki Sugawara, Hitachinaka (JP); Kentaro Ueno, Hitachinaka (JP); and Daisuke Noma, Hitachinaka (JP)
Assigned to Hitachi Astemo, Ltd., Hitachinaka (JP)
Appl. No. 18/016,990
Filed by Hitachi Astemo, Ltd., Hitachinaka (JP)
PCT Filed Jul. 20, 2021, PCT No. PCT/JP2021/027141
§ 371(c)(1), (2) Date Jan. 19, 2023,
PCT Pub. No. WO2022/024873, PCT Pub. Date Feb. 3, 2022.
Claims priority of application No. 2020-127258 (JP), filed on Jul. 28, 2020.
Prior Publication US 2023/0347861 A1, Nov. 2, 2023
Int. Cl. B60W 10/20 (2006.01); B60W 30/10 (2006.01); B60W 40/105 (2012.01); B60W 60/00 (2020.01)
CPC B60W 10/20 (2013.01) [B60W 30/10 (2013.01); B60W 40/105 (2013.01); B60W 60/001 (2020.02); B60W 2540/18 (2013.01); B60W 2710/207 (2013.01)] 15 Claims
OG exemplary drawing
 
1. A vehicle control device comprising a control unit that outputs, as a steering angle control command, a result obtained by calculation based on input information to a steering device, wherein the control unit performs a process including:
acquiring a physical amount relating to a difference in lateral direction or a difference in turning direction between an own vehicle and a travel target of the own vehicle;
acquiring a physical amount relating to a velocity of the own vehicle;
performing feedback control to reduce the physical amount relating to the difference in lateral direction or the difference in turning direction, so as to acquire a first steering angle control command for increasing a steering angle control amount as the velocity decreases;
acquiring a second steering angle control command for decreasing the steering angle control amount with respect to the velocity, compared with a magnitude of the steering angle control amount with respect to the velocity obtained by the first steering angle control command;
outputting the first steering angle control command when the physical amount relating to the velocity is greater than a predetermined threshold; and
outputting the second steering angle control command when the physical amount relating to the velocity is equal to, or less than, the predetermined threshold.