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

Claim 9:
10. A vehicle control system comprising:
a first controller configured to obtain a target trajectory, which is a trajectory on which a vehicle is to travel; and
a second controller configured to:
acquire a signal relating to the target trajectory, which is output from the first controller;
acquire a signal relating to a position of the vehicle;
predict, 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 predict a position of the vehicle at a time advanced from a current time by a fixed time;
repeat 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
output the predicted motion command at the time advanced by the predetermined time period to an actuator configured to control the motion of the vehicle.