Vehicle control apparatus and vehicle control system
A vehicle control apparatus includes: a communication device installed in a vehicle to receive, from outside the vehicle, information relating to another vehicle; and a control device installed in the vehicle to perform travel control on the vehicle using information relating to the vehicle and the information relating to the other vehicle, wherein the control device modifies a control type of the travel control in accordance with either a condition relating to the travel control currently underway or a condition of the vehicle currently being subjected to the travel control.
1. A vehicle control apparatus comprising:
a communication device installed in a vehicle to receive, from outside the vehicle, information relating to another vehicle; and
a control device installed in the vehicle to perform travel control on the vehicle using information relating to the vehicle and information relating to the other vehicle,
wherein the control device modifies a control type of the travel control in accordance with either a condition relating to the travel control currently underway or a condition of the vehicle currently being subjected to the travel control, and
wherein the control device switches the control type of the travel control between model based control based on a vehicle model and proportional derivative control in which proportional control and derivative control are executed, on the basis of the actually measured value and the control target value of the control subject of the travel control.
2. The vehicle control apparatus according to claim 1 , wherein the control device modifies the control type of the travel control on the basis of a deviation between a control target value of a control subject of the travel control and an actually measured value of the control subject obtained during the travel control executed at the control target value.
3. The vehicle control apparatus according to claim 1 , wherein the travel control is executed to control a vehicle interval relative to the other vehicle.
4. A vehicle control system comprising:
a communication device installed in each of a plurality of host vehicles to receive, from outside the host vehicle, information relating to another vehicle; and
a control device installed in each of a plurality of host vehicles to perform travel control on the host vehicle using information relating to the host vehicle and information relating to the other vehicle,
wherein each of a plurality of the control devices modifies a control type of the travel control in accordance with either a condition relating to the travel control currently underway or a condition of the host vehicle currently being subjected to the travel control, and
wherein the control device switches the control type of the travel control between model based control based on a vehicle model and proportional derivative control in which proportional control and derivative control are executed, on the basis of the actually measured value and the control target value of the control subject of the travel, control.
5. The vehicle control system according to claim 4 , wherein each of the plurality of the control devices modifies the control type of the travel control while maintaining a number of the plurality of the host vehicles.