Vehicle Control Device and Vehicle Control Method

Abstract

A control device and method in which, even when a road deviation operation is performed continuously near a road boundary where sidewalk/road separating blocks are discontinuously lined up, discontinuity does not occur in the control input, and unwanted vehicle behavior does not occur. The sizes of obstacles present around a host vehicle, as well as their relative positions and relative speeds with respect to the host vehicle are detected 500. A pair to be linked is determined from among the plurality of detected obstacles 501. An obstacle link length that serves as a determination criterion for virtual linking is set 502. Whether or not to perform virtual linking is determined based on the determination criterion 503. A gap position interpolation process 504 is performed with respect to the pair for which it has been determined that virtual linking is to be performed. A search is performed as to whether or not there exists a control subject for which collision is to be avoided 505. A yaw moment for avoiding an obstacle is calculated based on position information of the avoidance control subject 506.

Dependencies are inferred from the claim text.