US 12,252,111 B2
Vehicle control device, vehicle control method, and vehicle control system
Daisuke Noma, Hitachinaka (JP); and Kentaro Ueno, Hitachinaka (JP)
Assigned to Hitachi Astemo, Ltd., Hitachinaka (JP)
Appl. No. 17/641,562
Filed by Hitachi Astemo, Ltd., Hitachinaka (JP)
PCT Filed Nov. 24, 2020, PCT No. PCT/JP2020/043672
§ 371(c)(1), (2) Date Mar. 9, 2022,
PCT Pub. No. WO2021/106873, PCT Pub. Date Jun. 3, 2021.
Claims priority of application No. 2019-215350 (JP), filed on Nov. 28, 2019.
Prior Publication US 2022/0332306 A1, Oct. 20, 2022
Int. Cl. B60W 30/02 (2012.01); B60G 17/0165 (2006.01); B60W 10/04 (2006.01); B60W 10/18 (2012.01); B60W 10/20 (2006.01); B60W 10/22 (2006.01)
CPC B60W 30/02 (2013.01) [B60G 17/0165 (2013.01); B60W 10/04 (2013.01); B60W 10/18 (2013.01); B60W 10/20 (2013.01); B60W 10/22 (2013.01); B60G 2500/10 (2013.01); B60G 2500/30 (2013.01); B60W 2520/10 (2013.01); B60W 2520/14 (2013.01); B60W 2530/16 (2013.01); B60W 2552/30 (2020.02); B60W 2552/35 (2020.02); B60W 2555/20 (2020.02); B60W 2710/18 (2013.01); B60W 2710/20 (2013.01); B60W 2710/22 (2013.01); B60W 2720/106 (2013.01); B60W 2720/14 (2013.01)] 3 Claims
OG exemplary drawing
 
1. A vehicle control device comprising:
a control unit that obtains a control command for controlling a suspension device, a steering device, and a braking and driving device provided on a vehicle,
wherein the control unit is configured to
acquire characteristics of a road condition in front of the traveling vehicle based on external information that is acquired from an external recognition unit,
acquire vehicle behavior control variables for controlling the behavior of the vehicle based on estimated state variables of the vehicle that are obtained based on the characteristics of the road condition and control variables concerning speed of the vehicle based on the external information,
acquire trajectory tracking control variables for causing the vehicle to track the target trajectory based on the target trajectory on which the vehicle travels that are obtained based on the characteristics of the road condition and the estimated state variables, and
output a first control command for controlling the suspension device, a second control command for controlling the steering device, and a third control command for controlling the braking and driving device based on the vehicle behavior control variables and the trajectory tracking control variables,
when characteristics of a snowdrift among the characteristics of the road condition are acquired,
the control unit outputs the third control command so that the vehicle decelerates before the vehicle encounters the snowdrift, and
when the vehicle travels over the snowdrift, the control unit outputs the second control command so that a yaw moment is generated in a direction opposite to another yaw moment that is generated by track resistance caused by the snowdrift.