Vehicle motion control device and vehicle motion control method

A vehicle motion control device comprising:

• an actuator characteristic change estimation unit configured to estimate a characteristic change of an actuator at a future time from a current time;
• a controllable range estimation unit configured to calculate a controllable range of a vehicle motion from the characteristic change calculated by the actuator characteristic change estimation unit, a target track of a vehicle, and a current vehicle state;
• a vehicle motion planning unit configured to create a motion plan within the controllable range calculated by the controllable range estimation unit;
• an evaluation value calculation unit configured to calculate an evaluation value based on the motion plan created by the vehicle motion planning unit;
• and
• a determination unit configured to determine whether or not the evaluation value calculated by the evaluation value calculation unit is a minimum value,
• wherein the controllable range estimation unit refers to the target track of the vehicle and calculates a controllable vehicle motion range at the future time in consideration of a characteristic including at least an output range of an actuator regarding a vehicle motion from a current time, and
• wherein the vehicle motion planning unit creates the motion plan with reference to a predetermined evaluation function within the controllable vehicle motion range calculated by the controllable range estimation unit to enable vehicle motion control counteracting one or more limits of the actuator.