Vehicle control device and method

1 . A vehicle control device comprising:

a sensor configured to obtain information about a driving environment of a vehicle;

a driving device configured to control behavior of the vehicle; and

a processor configured to:

determine a required control quantity for controlling a velocity or acceleration of the vehicle based on the information obtained by the sensor,

determine a longitudinal velocity of the vehicle to minimize a tracking error representing a degree of following the required control quantity while minimizing a total acceleration at a target location within the vehicle, and

generate a control signal for controlling the driving device based on the longitudinal velocity of the vehicle.

2 . The vehicle control device of claim 1 , wherein the processor is configured to:

determine a longitudinal acceleration at the target location, considering a rotational motion around a center of gravity of the vehicle;

determine a lateral acceleration at the target location, considering a rotational motion around the center of gravity of the vehicle; and

determine the longitudinal velocity of the vehicle to minimize the longitudinal acceleration and the lateral acceleration.

3 . The vehicle control device of claim 2 , wherein the processor is configured to determine the longitudinal acceleration at the target location based on the longitudinal acceleration of the vehicle, a lateral velocity of the vehicle, a yaw angular acceleration, a lateral distance between the center of gravity of the vehicle and the target location, a longitudinal distance between the center of gravity of the vehicle and the target location, and a yaw rate.

4 . The vehicle control device of claim 2 , wherein the processor is configured to determine the lateral acceleration at the target location based on the lateral acceleration of the vehicle, the longitudinal velocity of the vehicle, a yaw angular acceleration, a longitudinal distance between the center of gravity of the vehicle and the target location, a lateral distance between the center of gravity of the vehicle and the target location, and a yaw rate.

5 . The vehicle control device of claim 4 , wherein the processor is configured to set a target lateral velocity at the target location to zero.

6 . The vehicle control device of claim 2 , wherein the processor is configured to:

apply a first weight to the longitudinal acceleration at the target location in the vehicle;

apply a second weight to the lateral acceleration at the target location in the vehicle; and

apply a third weight to the tracking error that follows the required control quantity.

7 . The vehicle control device of claim 6 , wherein the processor is configured to set a magnitude of the third weight to be larger as an expected collision time related to objects around the vehicle is shorter.

8 . The vehicle control device of claim 6 , wherein the processor is configured to set a magnitude of the third weight to be larger as a lateral behavior of the vehicle is smaller.

9 . The vehicle control device of claim 1 , wherein the processor is configured to:

determine a required velocity based on the driving environment; and

determine the tracking error based on a difference between the required velocity and the longitudinal velocity of the vehicle.

10 . The vehicle control device of claim 1 , wherein the processor is configured to:

determine a required acceleration based on the driving environment; and

determine the tracking error based on a difference between the required acceleration and a longitudinal acceleration of the vehicle.

11 . A vehicle control method comprising:

determining a required control quantity for controlling a velocity or acceleration of a vehicle based on information about a driving environment of the vehicle;

determining a longitudinal velocity of the vehicle to minimize a tracking error representing a degree of following the required control quantity while minimizing a total acceleration at a target location within the vehicle; and

generating a control signal for controlling a driving device of the vehicle based on the longitudinal velocity.

12 . The vehicle control method of claim 11 , wherein determining the longitudinal velocity of the vehicle includes:

determining a longitudinal acceleration at the target location, considering a rotational motion around a center of gravity of the vehicle;

determining a lateral acceleration at the target location, considering rotational motion around the center of gravity of the vehicle; and

determining the longitudinal velocity of the vehicle to minimize the longitudinal acceleration and the lateral acceleration.

13 . The vehicle control method of claim 12 , wherein determining the longitudinal acceleration at the target location includes: using the longitudinal acceleration of the vehicle, a lateral velocity of the vehicle, a yaw angular acceleration, a lateral distance between the center of gravity of the vehicle and the target location, a longitudinal distance between the center of gravity of the vehicle and the target location, and a yaw rate.

14 . The vehicle control method of claim 12 , wherein determining the lateral acceleration at the target location includes: using the lateral acceleration of the vehicle, the longitudinal velocity of the vehicle, a yaw angular acceleration, a longitudinal distance between the center of gravity of the vehicle and the target location, a lateral distance between the center of gravity of the vehicle and the target location, and a yaw rate.

15 . The vehicle control method of claim 14 , wherein determining the lateral acceleration at the target location includes setting a target lateral velocity at the target location to zero.

16 . The vehicle control method of claim 12 , wherein determining the longitudinal velocity of the vehicle includes:

applying a first weight to the longitudinal acceleration at the target location in the vehicle;

applying a second weight to the lateral acceleration at the target location in the vehicle; and

applying a third weight to the tracking error that follows the required control quantity.

17 . The vehicle control method of claim 16 , wherein applying the third weight includes:

determining an expected collision time related to objects around the vehicle; and

setting a magnitude of the third weight to be larger as the expected collision time is shorter.

18 . The vehicle control method of claim 16 , wherein applying the third weight includes:

determining a lateral behavior of the vehicle; and

setting a magnitude of the third weight to be larger as the lateral behavior of the vehicle is smaller.

19 . The vehicle control method of claim 11 , wherein determining the longitudinal velocity of the vehicle includes:

determining a required velocity based on the driving environment; and

determining the tracking error based on a difference between the required velocity and the longitudinal velocity of the vehicle.

20 . The vehicle control method of claim 11 , wherein determining the longitudinal velocity of the vehicle includes:

determining a required acceleration based on the driving environment; and

determining the tracking error based on a difference between the required acceleration and a longitudinal acceleration of the vehicle.