Vehicle control apparatus, vehicle control method, and vehicle control system

A vehicle control method comprising:

• acquiring a signal regarding a target braking/driving force configured to guide a vehicle in a target traveling direction based on information regarding a running route of the vehicle that is input from an external world recognition sensor and a physical amount regarding a motion state of the vehicle that is input from a vehicle motion state detection sensor;
• outputting the acquired signal regarding the target braking/driving force to a braking/driving controller configured to control a braking/driving actuator of the vehicle;
• acquiring a signal regarding a steering correction torque for correcting a steering torque according to a behavior of the vehicle based on a vehicle-body slip angle of the vehicle and the target braking/driving force, the vehicle-body slip angle being acquired based on the physical amount regarding the motion state of the vehicle;
• outputting the acquired signal regarding the steering correction torque to a steering force controller configured to control a steering actuator of the vehicle;
• setting a base-point steering angle that makes the steering torque zero to a steering angle at which a front-wheel slip angle acquired based on the vehicle-body slip angle is equivalent to zero;
• and
• outputting a signal regarding the base-point steering angle to the steering force controller as the signal regarding the steering correction torque
• wherein the base-point steering angle is variably set according to the front-wheel slip angle and the target braking/driving force.

A vehicle control system comprising:

• a apparatus configured to output a signal regarding a target braking/driving force configured to guide a vehicle in a target traveling direction, the signal regarding the target braking/driving force being acquired based on information regarding a running route of the vehicle that is input from an external world recognition sensor and a physical amount regarding a motion state of the vehicle that is input from a vehicle motion state detection sensor, and
• a signal regarding a steering correction torque for correcting a steering torque according to a behavior of the vehicle, the signal regarding the steering correction torque being acquired based on a vehicle-body slip angle of the vehicle and the target braking/driving force, the vehicle-body slip angle being acquired based on the physical amount regarding the motion state of the vehicle;
• a braking/driving controller configured to receive an input of the signal regarding the target braking/driving force output from the vehicle control apparatus and control a braking/driving actuator of the vehicle;
• and
• a steering force controller configured to receive an input of the signal regarding the steering correction torque output from the vehicle control apparatus and control a steering actuator of the vehicle,
• wherein the vehicle control apparatus sets a base-point steering angle that makes the steering torque zero to a steering angle at which a front-wheel slip angle acquired based on the vehicle-body slip angle is equivalent to zero, and outputs a signal regarding the base-point steering angle to the steering force controller as the signal regarding the steering correction torque
• wherein the base-point steering angle is variably set according to the front-wheel slip angle and the target braking/driving force.