Vehicle control device, vehicle control method, and vehicle control system
In a vehicle control device, a vehicle control method, and a vehicle control system according to the present invention, in control of a motion of a vehicle which is based on a signal relating to a target trajectory and a signal relating to a traveling state, a target traveling state of the vehicle after a predetermined time period corresponding to a delay element in the control of the motion of the vehicle is predicted, and a command for achieving the predicted target traveling state is output to an actuator configured to control the motion of the vehicle, thereby suppressing occurrence of a deviation of a traveling trajectory from the target trajectory and occurrence of an unstable behavior, for example, meandering, due to the delay element in a vehicle motion control system which is based on the target trajectory.
1. A vehicle controller mounted on a vehicle, which is configured to:
acquire, from a higher-level controller, a signal relating to a target trajectory, which is a trajectory on which the vehicle is to travel;
acquire a signal relating to a position of the vehicle;
predict, based on the signal relating to the target trajectory and the signal relating to the position of the vehicle, a behavior of the vehicle exhibited when a motion command for reducing a deviation between the position of the vehicle and the target trajectory is given to the vehicle and then predict a position of the vehicle at a time advanced from a current time by a fixed time;
repeat a prediction process, the prediction process comprising predicting a behavior of the vehicle exhibited when a motion command for reducing a deviation between the position of the vehicle predicted in a preceding prediction process and the target trajectory is given to the vehicle and then predicting a position of the vehicle at a time advanced by the fixed time, thereby predicting a motion command at a time advanced from the current time by a predetermined time period corresponding to a delay element in a control of a motion of the vehicle; and
output the predicted motion command at the time advanced by the predetermined time period to an actuator configured to control the motion of the vehicle.
2. The vehicle controller according to claim 1 , wherein the delay element includes response delay of the actuator.
3. The vehicle controller according to claim 2 , wherein the delay element further includes delay of the signal relating to the target trajectory.
4. The vehicle controller according to claim 3 , wherein the predetermined time period is a time period obtained by subtracting, from a response delay time period of the actuator, a delay time period of the signal relating to the target trajectory.
5. The vehicle controller according to claim 4 , wherein the delay time period of the signal relating to the target trajectory is a delay time period of a signal having the largest delay among the plurality of signals relating to the target trajectory.
6. The vehicle controller according to claim 3 , wherein when the delay time period of the signal relating to the target trajectory is equal to or longer than the response delay time period of the actuator, the vehicle control device is configured to set a current time as a time that is later by the predetermined time period.
7. The vehicle controller according to claim 2 , wherein the actuator is a steering device for the vehicle.
8. The vehicle controller according to claim 1 , wherein the delay element includes delay of the signal relating to the target trajectory.
9. A vehicle control method performed by a vehicle controller mounted on a vehicle, the method comprising:
acquiring, from a higher-level controller, a signal relating to a target trajectory, which is a trajectory on which the vehicle is to travel;
acquiring a signal relating to a position of the vehicle;
predicting, based on the signal relating to the target trajectory and the signal relating to the position of the vehicle, a behavior of the vehicle exhibited when a motion command for reducing a deviation between the position of the vehicle and the target trajectory is given to the vehicle and then predicting a position of the vehicle at a time advanced from a current time by a fixed time;
repeating a prediction process, the prediction process comprising predicting a behavior of the vehicle exhibited when a motion command for reducing a deviation between the position of the vehicle predicted in a preceding prediction process and the target trajectory is given to the vehicle and then predicting a position of the vehicle at a time advanced by the fixed time, thereby predicting a motion command at a time advanced from the current time by a predetermined time period corresponding to a delay element in a control of a motion of the vehicle; and
outputting the predicted motion command at the time advanced by the predetermined time period to an actuator configured to control the motion of the vehicle.
10. A vehicle control system comprising:
a first controller configured to obtain a target trajectory, which is a trajectory on which a vehicle is to travel; and
a second controller configured to:
acquire a signal relating to the target trajectory, which is output from the first controller;
acquire a signal relating to a position of the vehicle;
predict, based on the signal relating to the target trajectory and the signal relating to the position of the vehicle, a behavior of the vehicle exhibited when a motion command for reducing a deviation between the position of the vehicle and the target trajectory is given to the vehicle and then predict a position of the vehicle at a time advanced from a current time by a fixed time;
repeat a prediction process, the prediction process comprising predicting a behavior of the vehicle exhibited when a motion command for reducing a deviation between the position of the vehicle predicted in a preceding prediction process and the target trajectory is given to the vehicle and then predicting a position of the vehicle at a time advanced by the fixed time, thereby predicting a motion command at a time advanced from the current time by a predetermined time period corresponding to a delay element in a control of a motion of the vehicle; and
output the predicted motion command at the time advanced by the predetermined time period to an actuator configured to control the motion of the vehicle.