The invention provides a vehicle control device, a vehicle control method, and a computer-readable storage medium, which store a program and can suppress confusion of vehicle behavior caused by lateral gradient of a road surface. A vehicle control device includes: a behavior detection unit that detects a behavior of a preceding vehicle traveling in the same direction as the host vehicle in front of the host vehicle; and a driving control unit that performs at least steering control of the host vehicle without depending on an operation of a driver of the host vehicle, the behavior detection unit detects a peak value of a lateral velocity of the preceding vehicle, and the driving control unit executes a first steering control when the host vehicle travels in a straight travel section, i.e., a second steering control when the host vehicle travels in a straight travel section. And a steering force output unit that outputs a steering force on the opposite side of the lateral position change of the preceding vehicle or amplifies a steering force output on the basis of a predetermined reference at a location where the lateral position change of the preceding vehicle at which the detected peak value has occurred.

    本发明提供一种车辆控制装置、车辆控制方法及计算机可读取的存储介质,存储有程序,能抑制由于路面的横向坡度而产生车辆行为的混乱。一种车辆控制装置,包括:行为检测部,检测在本车辆前方沿与所述本车辆相同的方向行驶的前行驶车辆的行为;以及驾驶控制部,不依赖于所述本车辆的驾驶者的操作而至少进行所述本车辆的操舵控制,所述行为检测部检测所述前行驶车辆的横向速度的峰值,所述驾驶控制部在所述本车辆行驶在直行区间的情况下执行第一操舵控制,即,在产生了所述检测出的峰值的所述前行驶车辆的横向位置变化的发生地点,输出朝向与所述前行驶车辆的横向位置变化相反一侧的操舵力,或者将基于规定基准输出的操舵力放大。


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    Title :

    VEHICLE CONTROL DEVICE, VEHICLE CONTROL METHOD, AND COMPUTER-READABLE STORAGE MEDIUM


    Additional title:

    车辆控制装置、车辆控制方法及计算机可读取的存储介质


    Contributors:

    Publication date :

    2022-05-27


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / B62D MOTOR VEHICLES , Motorfahrzeuge



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