Vehicle control apparatus, vehicle control method, and vehicle control system
A vehicle control apparatus, a vehicle control method, and a vehicle control system according to the present invention each acquire information related to a positional difference in a transverse direction between a target trajectory of a vehicle and an actual trajectory of the vehicle, estimate an amount of disturbance corresponding to the positional difference in the transverse direction by using the information related to the positional difference in the transverse direction, and obtain a control command by using the amount of disturbance as an aspect thereof. The control command is for causing the vehicle to track the target trajectory. This makes it possible to accurately estimate the amount of disturbance and increase the performance of tracking the target trajectory.
1 . A vehicle control apparatus comprising:
a transverse direction difference acquisition section which acquires information related to a positional difference in a transverse direction between a target trajectory of a vehicle and an actual trajectory of the vehicle;
a disturbance estimation section which estimates an amount of disturbance which corresponds to the positional difference in the transverse direction based on the information related to the positional difference in the transverse direction acquired by the transverse direction difference acquisition section; and
a tracking controller which obtains a control command based on the amount of disturbance estimated by the disturbance estimation section, the control command being for causing the vehicle to track the target trajectory, wherein the disturbance estimation section estimates the amount of disturbance based on information related to a past positional difference in the transverse direction and information related to a current positional difference in the transverse direction.
2 . The vehicle control apparatus according to claim 1 , wherein
the information related to the past positional difference in the transverse direction is a predictive value and the information related to the current positional difference in the transverse direction is an actual value, and
the disturbance estimation section estimates the amount of disturbance according to a result obtained by changing the actual value based on a difference between the predictive value and the actual value.
3 . A vehicle control apparatus comprising:
a transverse direction difference acquisition section which acquires information related to a positional difference in a transverse direction between a target trajectory of a vehicle and an actual trajectory of the vehicle;
a disturbance estimation section which estimates an amount of disturbance which corresponds to the positional difference in the transverse direction based on the information related to the positional difference in the transverse direction acquired by the transverse direction difference acquisition section; and
a tracking controller which obtains a control command based on the amount of disturbance estimated by the disturbance estimation section, the control command being for causing the vehicle to track the target trajectory, wherein the tracking controller obtains a command for controlling lateral acceleration of the vehicle to decrease the positional difference in the transverse direction, the command serving as the control command, and the tracking controller obtains the command for controlling the lateral acceleration to compensate for a difference between a transverse slope of a road surface in the target trajectory and a transverse slope of a road surface in the actual trajectory.
4 . The vehicle control apparatus according to claim 3 , wherein the tracking controller limits change in speed of the command for controlling the lateral acceleration within a predetermined range.
5 . The vehicle control apparatus according to claim 3 , wherein the tracking controller makes the command for controlling the lateral acceleration smaller when the transverse slope of the road surface in the actual trajectory has a higher position than a position of the transverse slope of the road surface in the target trajectory than when the transverse slope of the road surface in the actual trajectory has a lower position than the position of the transverse slope of the road surface in the target trajectory.
6 . The vehicle control apparatus according to claim 3 , wherein the tracking controller obtains the command for controlling the lateral acceleration based on at least one of information related to an orientation of the vehicle and information related to curvature of the target trajectory along with the information related to the positional difference in the transverse direction.
7 . A vehicle control method comprising:
a step of acquiring information related to a positional difference in a transverse direction between a target trajectory of a vehicle and an actual trajectory of the vehicle;
a step of estimating an amount of disturbance which corresponds to the positional difference in the transverse direction based on the acquired information related to the positional difference in the transverse direction; and
a step of obtaining a control command based on the estimated amount of disturbance, the control command being for causing the vehicle to track the target trajectory, wherein the step of estimating the amount of disturbance estimates the amount of disturbance based on information related to a past positional difference in the transverse direction and information related to a current positional difference in the transverse direction.
8 . A vehicle control method comprising:
a step of acquiring information related to a positional difference in a transverse direction between a target trajectory of a vehicle and an actual trajectory of the vehicle;
a step of estimating an amount of disturbance which corresponds to the positional difference in the transverse direction based on the acquired information related to the positional difference in the transverse direction; and
a step of obtaining a control command based on the estimated amount of disturbance, the control command being for causing the vehicle to track the target trajectory,
wherein the step of obtaining the control command obtains a command for controlling lateral acceleration of the vehicle to decrease the positional difference in the transverse direction, the command serving as the control command, and obtains the command for controlling the lateral acceleration to compensate for a difference between a transverse slope of a road surface in the target trajectory and a transverse slope of a road surface in the actual trajectory.