公开(公告)号：US12252111B2

公开(公告)日：2025-03-18

申请号：US17641562

申请日：2020-11-24

Applicant: Hitachi Astemo, Ltd.

Inventor： Daisuke Noma ,  Kentaro Ueno

IPC: B60W30/02 ,  B60G17/0165 ,  B60W10/04 ,  B60W10/18 ,  B60W10/20 ,  B60W10/22

Abstract: The vehicle control device of the present invention acquires characteristics of a road condition in front of a traveling vehicle based on external information; acquires 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, and control variables concerning speed of the vehicle based on the external information; acquires 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 and the estimated state variables; and outputs the control commands for controlling the suspension device, steering device, and braking and driving device based on the vehicle behavior control variables and the trajectory tracking control variables. This improves travel stability of the vehicle on a road surface on which an irregularity such as ruts exists.

公开(公告)号：US12227165B2

公开(公告)日：2025-02-18

申请号：US18016990

申请日：2021-07-20

Applicant: Hitachi Astemo, Ltd.

Inventor： Hiroki Sugawara ,  Kentaro Ueno ,  Daisuke Noma

IPC: B60W10/20 ,  B60W30/10 ,  B60W40/105 ,  B60W60/00

Abstract: A vehicle control device, a vehicle control method, and a vehicle control system according to the present invention perform feedback control to reduce difference in lateral direction or difference in turning direction between an own vehicle and a travel target, so as to acquire a first steering angle control command for increasing a steering angle control amount as the velocity of the own vehicle decreases, acquire a second steering angle control command for decreasing the steering angle control amount with respect to the velocity, compared with a magnitude of the steering angle control amount with respect to the velocity obtained by the first steering angle control command, output the first steering angle control command when the velocity is greater than a predetermined threshold, and output the second steering angle control command when the velocity is equal to, or less than, the predetermined threshold.