US 12,311,946 B2
Vehicle control device, vehicle control method, and vehicle control system
Tatsuya Iba, Hitachinaka (JP); Kentaro Ueno, Hitachinaka (JP); and Daisuke Noma, Hitachinaka (JP)
Assigned to Hitachi Astemo, Ltd., Hitachinaka (JP)
Appl. No. 18/021,714
Filed by Hitachi Astemo, Ltd., Hitachinaka (JP)
PCT Filed Aug. 5, 2021, PCT No. PCT/JP2021/029138
§ 371(c)(1), (2) Date Feb. 16, 2023,
PCT Pub. No. WO2022/054473, PCT Pub. Date Mar. 17, 2022.
Claims priority of application No. 2020-150567 (JP), filed on Sep. 8, 2020.
Prior Publication US 2023/0322224 A1, Oct. 12, 2023
Int. Cl. B60T 8/32 (2006.01); B60W 30/18 (2012.01); B60W 10/18 (2012.01); B60W 50/00 (2006.01)
CPC B60W 30/18127 (2013.01) [B60T 8/321 (2013.01); B60W 2050/0056 (2013.01); B60W 2710/18 (2013.01)] 14 Claims
OG exemplary drawing
 
1. A vehicle control device provided in a vehicle that has a regenerative braking device for regenerating a regenerative braking force applied to wheels, and a frictional braking device for generating a frictional braking force applied to the wheels, the vehicle control device comprising a control unit for outputting a result of calculation based on input information, wherein the control unit is configured to
estimate, in response to a deceleration command to the vehicle, a first deceleration generated by the frictional braking force based on characteristics of deceleration with respect to a force acting on a friction pad of the frictional braking device,
determine a second deceleration by subtracting the first deceleration from the deceleration command,
output a first command for generating the frictional braking force based on the deceleration command, and
output a second command for generating the regenerative braking force based on the second deceleration, wherein
the control unit estimates the first deceleration by subtracting an estimated deceleration that is being generated by the regenerative braking force from the deceleration of the vehicle.