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

A vehicle control method executed by a control unit mounted in a vehicle, the vehicle control method comprising:

• acquiring a physical quantity about a curvature ahead on a traveling road on which the vehicle runs;
• acquiring a physical quantity about a speed of the vehicle;
• and
• in order to change, before an occurrence of a vehicle behavior caused when the vehicle runs on a curve, an attitude of the vehicle to a preliminary attitude in preparation for running on the curve, outputting a control command for operating an actuator unit mounted in the vehicle, so as to obtain a control moment including at least one of a roll moment, a pitch moment, and a yaw moment that are generated for the vehicle before a curve on the traveling road, based on the physical quantity about the curvature ahead and the physical quantity about the speed.

A vehicle control system comprising:

• a surrounding area information recognition unit that acquires information about a surrounding area ahead on a traveling road on which a vehicle runs;
• an actuator unit that controls an attitude of the vehicle;
• and
• a control unit that outputs a result calculated based on input information,
• wherein the control unit
• acquires a physical quantity about a curvature ahead on the traveling road on which the vehicle runs based on the information about the surrounding area,
• acquires a physical quantity about a speed of the vehicle, and
• in order to change, before an occurrence of a vehicle behavior caused when the vehicle runs on a curve, the attitude of the vehicle to a preliminary attitude in preparation for running on the curve, outputs a control command for operating the actuator unit, so as to obtain a control moment including at least one of a roll moment, a pitch moment, and a yaw moment that are generated for the vehicle before a curve on the traveling road, based on the physical quantity about the curvature ahead and the physical quantity about the speed.