Patent ID: 11964667
Assignee: HITACHI ASTEMO, LTD.
Field: Transport (Mechanical engineering)
Classification: CPC B  G | IPC B

Claim 8:
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.