Vehicle control device and vehicle control system

A vehicle control device for controlling an actuator which is provided between a body of a vehicle and a wheel of the vehicle, and configured to change a force for suppressing a relative displacement between the body of the vehicle and the wheel of the vehicle, the vehicle control device comprising:

• a first lateral acceleration calculation unit configured to estimate a first lateral acceleration of the vehicle based on a yaw rate of the vehicle detected by a yaw rate sensor and a speed of the vehicle detected by a vehicle speed sensor, and remove a high-frequency component of the first lateral acceleration;
• a second lateral acceleration calculation unit configured to estimate a second lateral acceleration of the vehicle based on a steering operation amount of the vehicle, and remove a low-frequency component of the second lateral acceleration;
• a third lateral acceleration calculation unit configured to obtain a composed lateral acceleration of the vehicle based on a post-high-frequency-component-removal lateral acceleration obtained by removing the high-frequency component by the first lateral acceleration calculation unit and a post-low-frequency-component-removal lateral acceleration obtained by removing the low-frequency component by the second lateral acceleration calculation unit;
• a first longitudinal acceleration calculation unit configured to remove a high-frequency component of a first longitudinal acceleration of the vehicle detected by a longitudinal acceleration sensor;
• a second longitudinal acceleration calculation unit configured to estimate a second longitudinal acceleration of the vehicle based on a braking or driving operation amount of the vehicle, and remove a low-frequency component of the second longitudinal acceleration;
• a third longitudinal acceleration calculation unit configured to obtain a composed longitudinal acceleration of the vehicle based on a post-high-frequency-component-removal longitudinal acceleration obtained by removing the high-frequency component by the first longitudinal acceleration calculation unit and a post-low-frequency-component-removal longitudinal acceleration obtained by removing the low-frequency component by the second longitudinal acceleration calculation unit;
• and
• a control command calculation unit configured to output a control command for controlling the actuator based on the composed lateral acceleration obtained by the third lateral acceleration calculation unit and the composed longitudinal acceleration obtained by the third longitudinal acceleration calculation unit.