US 12,434,712 B2
Vehicle motion control device and vehicle motion control method
Shingo Nasu, Tokyo (JP); Kentarou Ueno, Hitachinaka (JP); and Masaru Yamasaki, Tokyo (JP)
Assigned to Hitachi Astemo, Ltd., Ibaraki (JP)
Appl. No. 18/265,804
Filed by Hitachi Astemo, Ltd., Ibaraki (JP)
PCT Filed Nov. 10, 2021, PCT No. PCT/JP2021/041347
§ 371(c)(1), (2) Date Jun. 7, 2023,
PCT Pub. No. WO2022/130842, PCT Pub. Date Jun. 23, 2022.
Claims priority of application No. 2020-209110 (JP), filed on Dec. 17, 2020.
Prior Publication US 2024/0034328 A1, Feb. 1, 2024
Int. Cl. B60W 30/02 (2012.01); B60W 10/04 (2006.01); B60W 10/18 (2012.01); B60W 10/20 (2006.01); B60W 40/072 (2012.01); B60W 40/107 (2012.01); B60W 40/109 (2012.01); G08G 1/16 (2006.01); B60W 30/045 (2012.01); B60W 30/182 (2020.01)
CPC B60W 40/072 (2013.01) [B60W 10/04 (2013.01); B60W 10/18 (2013.01); B60W 10/20 (2013.01); B60W 40/107 (2013.01); B60W 40/109 (2013.01); G08G 1/167 (2013.01); B60W 30/045 (2013.01); B60W 30/182 (2013.01); B60W 2520/10 (2013.01); B60W 2552/30 (2020.02); B60W 2710/18 (2013.01); B60W 2710/20 (2013.01); B60W 2720/10 (2013.01)] 10 Claims
OG exemplary drawing
 
1. A vehicle motion control device that controls a motion of a vehicle, comprising:
a storage device storing at least one program; and
a controller including a processor (CPU) and which when executing the at least one program configures the controller to:
generate traveling status information of the vehicle;
generate a traveling track of the vehicle based on the traveling status information;
control driving, braking, and steering of the vehicle based on the traveling track including a target course and a target speed;
generate the target course based on the traveling status information;
plan the target speed by calculating a longitudinal acceleration and a lateral acceleration when the vehicle travels on each curve in the target course;
determine, based on the traveling status information, the target course and a vehicle behavior prediction value, whether or not there is one peak in a composite acceleration, which is a combination of the longitudinal acceleration and the lateral acceleration, when traveling on one curve and output a result of the determination; and
calculate, only when the result of the determination indicates that the composite acceleration does not have one peak within the one curve, an acceleration correction value such that the composite acceleration has one peak; and
set a magnitude of the longitudinal acceleration to a predetermined ratio to the lateral acceleration based on the acceleration correction value.