Vehicle control device and vehicle control method
First Claim
1. A vehicle control device comprising:
- a traveling control unit that performs feedback control for vehicle traveling according to a traveling target, the traveling target including a target traveling trace and a target speed pattern of the vehicle;
a determination unit that determines whether a vehicle traveling state according to the traveling target is a state in which a target following control in accordance with the feedback control is not carried out due to a disturbance predicted according to the vehicle information or not; and
a target regeneration unit that, when the determination unit determines that the vehicle traveling state according to the traveling target is the state in which the target following control in accordance with the feedback control is not carried out due to the disturbance predicted according to the vehicle information, regenerates a new traveling target.
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Abstract
Disclosed are a vehicle control device and a vehicle control method capable of performing appropriate traveling control while exhibiting the capability of a control system. Feedback control is performed according to a traveling target set in advance. At the time of the feedback control, when a vehicle traveling trace is deviated, when a tire friction circle is exceeded, or when a vehicle acceleration or a jerk exceeds a set value, if a control deviation exceeds a set value, a traveling target is regenerated. This enables appropriate traveling control while sufficiently exhibiting the capability of the control system until the control deviation exceeds the set value. When the control deviation exceeds the set value, a traveling target is regenerated, such that traveling control appropriate for the traveling environment can be performed.
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Citations
2 Claims
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1. A vehicle control device comprising:
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a traveling control unit that performs feedback control for vehicle traveling according to a traveling target, the traveling target including a target traveling trace and a target speed pattern of the vehicle; a determination unit that determines whether a vehicle traveling state according to the traveling target is a state in which a target following control in accordance with the feedback control is not carried out due to a disturbance predicted according to the vehicle information or not; and a target regeneration unit that, when the determination unit determines that the vehicle traveling state according to the traveling target is the state in which the target following control in accordance with the feedback control is not carried out due to the disturbance predicted according to the vehicle information, regenerates a new traveling target.
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2. A vehicle control method comprising:
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a traveling control step of performing feedback control for vehicle traveling according to a traveling target, the traveling target including a target traveling trace and a target speed pattern of the vehicle; a determination step of determining whether a vehicle traveling state according to the traveling target is a state in which a target following control in accordance with the feedback control is not carried out due to a disturbance predicted according to the vehicle information or not; and a target regeneration step of, when it is determined in the determination step that the vehicle traveling state according to the traveling target is the state in which the target following control in accordance with the feedback control is not carried out due to the disturbance predicted according to the vehicle information, regenerating a new traveling target.
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Specification