Title:
VEHICLE CONTROL DEVICE AND VEHICLE CONTROL METHOD
Document Type and Number:
WIPO Patent Application WO/2021/111616
Kind Code:
A1
Abstract:
In this vehicle control device (101), a switching hyperplane creation unit (204) creates a switching hyperplane on the basis of a travel state of a vehicle (100) and cornering stiffness corresponding to a travel surface state that is the state of a road surface on which the vehicle (100) is traveling. A deviation calculation unit (201) calculates the deviation between a target trajectory and an actual trajectory of the vehicle (100). A state quantity estimation unit (203) estimates a to-be-controlled state quantity of the vehicle (100) on the basis of the deviation calculated by the deviation calculation unit (201). A target steering-angle acceleration/deceleration calculation unit (205) calculates a target steering angle and a target acceleration/deceleration of the vehicle (100) on the basis of the switching hyperplane created by the switching hyperplane creation unit (204) and an estimate state quantity that is the state quantity estimated by the state quantity estimation unit (203).
Inventors:
KAMEOKA SHOTA (JP)
Application Number:
PCT/JP2019/047807
Publication Date:
June 10, 2021
Filing Date:
December 06, 2019
Export Citation:
Assignee:
MITSUBISHI ELECTRIC CORP (JP)
International Classes:
B60W30/10; B60W30/02; B60W60/00; B62D6/00; B62D137/00
Foreign References:
| JPS6328763A | 1988-02-06 | |||
| JP2009208587A | 2009-09-17 | |||
| JP2013023051A | 2013-02-04 | |||
| JPH04224425A | 1992-08-13 | |||
| JPS61226368A | 1986-10-08 |
Attorney, Agent or Firm:
YOSHITAKE Hidetoshi et al. (JP)
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