A vehicle control device, a vehicle control method, a vehicle motion control system, and a lane estimation device according to the present invention obtain first information on lane markings defining a lane in which a vehicle travels based on external information obtained from an external recognition unit, obtain second information on a curvature of the lane based on information on a road shape obtained from a road shape information acquisition unit, obtain third information on a behavior of the vehicle based on a physical quantity that is related to a motion state of the vehicle and obtained from a vehicle motion state detection unit, and estimate lane information including information on curvatures of the lane markings and information on relative positions of the vehicle with respect to the lane markings based on the first information, the second information, and the third information.
Vehicle Control Device, Vehicle Control Method, Vehicle Motion Control System, and Lane Estimation Device
2022-10-06
Patent
Electronic Resource
English
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