To reduce a feeling of discomfort that a passenger has when accelerating/decelerating the vehicle.SOLUTION: A vehicle control device comprises: a generation part which generates a speed profile representing future speed transition of a vehicle based upon a target point in a traveling direction of the vehicle and a target speed at the target point; a determination part which calculates, based upon the speed profile, an extreme speed as a speed at the point of time when acceleration of the speed profile reaches zero, determines that the vehicle is accelerated toward the target point when the extreme speed is slower than the target speed, or decelerated toward the target point when the extreme speed is equal to or faster than the target speed, and determines whether the remaining distance from the vehicle to the target point is less than a minimum necessary deceleration distance when it is determined that the vehicle is decelerated; a correction part which corrects the speed profile based upon a determination result of the determination part; and a control part which allows the vehicle to travel according to the speed profile.SELECTED DRAWING: Figure 1
【課題】車両の加減速時に、乗員が覚える違和感を低減すること。【解決手段】車両の進行方向にあるターゲット地点と、ターゲット地点における目標速度とに基づいて、車両の将来の速度推移を示す速度プロファイルを生成する生成部と、速度プロファイルに基づいて、速度プロファイルの加速度がゼロになる時点の速度である極値速度を計算し、極値速度が目標速度よりも小さい場合には車両をターゲット地点に向けて加速させると判定し、極値速度が目標速度以上である場合には車両をターゲット地点に向けて減速させると判定し、車両を減速させると判定した場合、車両からターゲット地点までの残距離が最低必要減速距離未満であるか否かを判定する判定部と、判定部による判定結果に基づいて、速度プロファイルを修正する修正部と、速度プロファイルに従って車両を走行させる制御部と、を備える車両制御装置。【選択図】図1
VEHICLE CONTROL DEVICE, VEHICLE CONTROL METHOD AND PROGRAM
車両制御装置、車両制御方法、及びプログラム
2022-06-30
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 |
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