Vehicle control device
A vehicle control device that controls a motor and a braking force application device predicts a time waveform of a wheel speed when a required braking force based on a braking request is applied when a braking request is made while traveling on a winding road. The vehicle control device executes reduction control for controlling the braking force application device so that the reduced braking force is applied from the required braking force from the braking force application device in accordance with the timing of the variation of the wheel speed in the time waveform of the predicted wheel speed.
1 . A vehicle control device to be used for a vehicle including a motor configured to output power to a drive shaft, and a hydraulic brake actuator that adjusts wheel-cylinder hydraulic pressure under control of a brake electronic control unit (brake ECU), the hydraulic brake actuator configured to apply a braking force to a wheel connected to the drive shaft via an axle, the vehicle control device being configured to control the motor and the brake ECU, wherein:
the vehicle control device is configured to, when a braking request for sudden braking is made during traveling on a winding road, predict a temporal waveform of a wheel speed until the vehicle is to be stopped while a requested braking force based on the braking request is applied;
the vehicle control device is configured to execute reduction control for controlling the hydraulic brake actuator to apply a braking force reduced from the requested braking force in synchronization with a timing of variation in the wheel speed in the predicted temporal waveform of the wheel speed;
the vehicle control device is configured to predict a stop timing when the vehicle is to be stopped based on the temporal waveform of the wheel speed; and
the vehicle control device is configured to, when a variation range of the wheel speed reaches a predetermined low variation state during execution of the reduction control, terminate the execution of the reduction control and control the hydraulic brake actuator to stop the vehicle at the predicted stop timing.
2 . The vehicle control device according to claim 1 , wherein the reduction control is controlling the braking force application device to reduce the braking force to be applied from the braking force application device once every two times of variation in the wheel speed in the predicted temporal waveform of the wheel speed.
3 . The vehicle control device according to claim 1 , wherein:
the vehicle control device is configured to generate, by machine learning, a model of the temporal waveform of the wheel speed when the braking request is made during the traveling on the winding road; and
the vehicle control device is configured to, when the braking request is made during the traveling on the winding road, predict the temporal waveform of the wheel speed by using the model.