A vehicle motion control device according to the present invention obtains a translation force for causing the position of a vehicle to trace a target travel path, on the basis of a lateral displacement amount which is an amount of displacement of the vehicle in a lateral direction with respect to a target movement point, obtain a rotational force for correcting an orientation of the vehicle with respect to the target travel path, on the basis of an orientation displacement amount which is an amount of displacement of the vehicle in a yaw direction with respect to the target movement point, weight the translation force and the rotational force on the basis of specifications relating to traveling of the vehicle, and output a control command for achieving a target lateral force obtained by adding up the weighted translation force and the weighted rotational force.
Vehicle Motion Control Device, Vehicle Motion Control Method, and Vehicle Motion Control System
2022-08-25
Patent
Electronic Resource
English
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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