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

A vehicle control system comprising:

• a vehicle control apparatus that includes:
• a first calculating unit that calculates a curve curvature radius of a road where the vehicle travels;
• a second calculating unit that calculates a transverse direction acceleration in a direction intersecting with a traveling direction of the vehicle;
• a setting unit that sets an allowable upper limit value of the transverse direction acceleration, according to the curve curvature radius;
• and
• a control unit that performs a control to accelerate or decelerate the vehicle, where in a case where the transverse direction acceleration is larger than the allowable upper limit value, the control unit performs control such that the vehicle accelerates;
• a yaw rate sensor that detects a yaw rate of the vehicle;
• a vehicle speed sensor that detects a speed of the vehicle;
• and
• a radar device that derives target information related to a preceding vehicle of the vehicle.

A vehicle control method comprising:

• calculating the curve curvature radius of a road where a vehicle travels;
• calculating a transverse direction acceleration in a direction intersecting with the traveling direction of the vehicle;
• setting an allowable upper limit value of the transverse direction acceleration, according to the curve curvature radius;
• and
• performing a control to accelerate or decelerate the vehicle,
• wherein, in a case where the transverse direction acceleration is larger than the allowable upper limit value, the control is performed such that the vehicle decelerates.