Patent ID: 11884273
Assignee: HITACHI ASTEMO, LTD.
Field: Transport (Mechanical engineering)
Classification: CPC B | IPC B

Claim 0:
1. A vehicle control device, the vehicle control device being configured to: input information on a road curvature of a road on which a preceding vehicle traveling forward of a vehicle have traveled, the information being obtained by an external world recognition unit;
input information on a relative position between the vehicle and the preceding vehicle, the information being obtained by the external world recognition unit;
obtain a distribution between first-order follow-up control and second-order follow-up control based on the input information on the road curvature and the input information on the relative position between the vehicle and the preceding vehicle, the first-order follow-up control causing the vehicle to follow the preceding vehicle through use of a first-order trajectory, the second-order follow-up control causing the vehicle to follow the preceding vehicle through use of a second-order trajectory; and
output an instruction relating to steering of the vehicle for achieving the obtained first-order follow-up control and the obtained second-order follow-up control, to a steering actuator unit relating to the steering of the vehicle,
wherein the vehicle control device is configured to selectively switch between the first-order follow-up control and the second-order follow-up control based on the input information on the road curvature and the input information on the relative position between the vehicle and the preceding vehicle,
wherein the vehicle control device is configured to select the first-order follow-up control when a centripetal acceleration is equal to or higher than a threshold value, or wherein the vehicle control device is configured to select the first-order follow-up control when a vehicle speed is equal to or higher than a threshold value.