To provide a vehicle control device which can suppress the occurrence of a large change in a vehicle behavior in which a driver feels a sense of discomfort when executing a new control command.SOLUTION: A vehicle control device comprises: a mediation part which mediates a plurality of control commands acquired from a plurality of drive support applications that respectively realize drive support functions; and an instruction part which outputs an instruction to a control part that can control an actuator in a vehicle on the basis of the control command after mediation by the mediation part. The instruction part outputs to the control part an instruction requesting a request value derived based on a guard value as an instruction based on the control command after mediation when an absolute value of a difference between a request value requested by the instruction based on the current control command used in the previous time with mediation of the mediation part and a request value requested by a new control command used in this time with mediation of the mediation part is equal to or greater than a guard value indicating the allowable upper limit of an absolute value of a change amount of the request value.SELECTED DRAWING: Figure 1
【課題】新たな制御指令を実行した際に、ドライバーが違和感を覚えてしまうような車両挙動の大きな変化が発生することを抑制できる車両制御装置を提供する。【解決手段】運転支援機能をそれぞれ実現する複数の運転支援アプリケーションから取得した複数の制御指令を調停する調停部と、調停部による調停後の制御指令に基づいて、車両が備えるアクチュエータを制御可能な制御部に対する指示を出力する指示部と、を備え、指示部は、調停部の調停によって前回採用した現在の制御指令に基づく指示が要求する要求値と、調停部の調停によって今回採用した新たな制御指令が要求する要求値との差分の絶対値が、要求値の変化量の絶対値の許容上限を示すガード値以上である場合、調停後の制御指令に基づく指示としてガード値に基づいて導出した要求値を要求する指示を制御部に出力する。【選択図】図1
VEHICLE CONTROL DEVICE, CONTROL DEVICE, MANAGER, ACTUATOR SYSTEM, METHOD, PROGRAM AND VEHICLE
車両制御装置、制御装置、マネージャ、アクチュエータシステム、方法、プログラム、及び車両
2021-08-30
Patent
Electronic Resource
Japanese
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 / B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF / B62D MOTOR VEHICLES , Motorfahrzeuge / F02D CONTROLLING COMBUSTION ENGINES , Steuern oder Regeln von Brennkraftmaschinen / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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