In an aspect of a vehicle control device, a vehicle control method, a target trajectory calculation method, and a vehicle according to the present invention, an offset amount of a coordinate value or a curvature is determined for each item of basic trajectory coordinate data on a basis of the basic trajectory coordinate data on at least a part or all of a two-dimensional coordinate value, a trajectory curvature, and a trajectory azimuth angle at coordinates arranged in ascending order of arc length from a certain position serving as an origin point, new target trajectory coordinate data is determined by adding the offset amount to each item of the basic trajectory coordinate data, and a trajectory of a vehicle is controlled on a basis of the new target trajectory coordinate data. Thus, a target trajectory with an out-in-out line can be obtained as in steering by an expert driver.
VEHICLE CONTROL DEVICE, VEHICLE CONTROL METHOD, TARGET TRAJECTORY CALCULATION METHOD, AND VEHICLE
FAHRZEUGSTEUERUNGSVORRICHTUNG, FAHRZEUGSTEUERUNGSVERFAHREN, SOLLTRAJEKTORIEBERECHNUNGSVERFAHREN UND FAHRZEUG
DISPOSITIF DE COMMANDE DE VÉHICULE, PROCÉDÉ DE COMMANDE DE VÉHICULE, PROCÉDÉ DE CALCUL DE TRAJECTOIRE CIBLE ET VÉHICULE
2024-09-04
Patent
Electronic Resource
English
Vehicle control device, vehicle control method, target trajectory calculation method, and vehicle
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