Vehicle travel control device

A vehicle travel control method comprising:

• individually controlling, with a plurality of device controllers, actuation of a plurality of traveling devices mounted on a vehicle, based on a computation result provided by computation circuitry, wherein
• the computation circuitry performing
• identifying a vehicle outdoor environment based on an output from image circuitry;
• setting a route on which the vehicle is to travel, in accordance with the vehicle outdoor environment previously identified;
• determining a target motion of the vehicle to follow the route previously set;
• calculating target physical quantities to be executed by the traveling devices to achieve the target motion previously determined;
• and
• calculating controlled variables of the travelling devices such that the target physical quantities calculated are achieved, and controlling a motion of the vehicle by applying the control signals that contain the controlled variables to the travelling devices.

A non-transitory computer readable medium having instructions stored therein that once executed by a processor cause the processor to execute a vehicle travel control method, the method comprising:

• individually controlling, with a plurality of device controllers, actuation of a plurality of traveling devices mounted on a vehicle, based on a computation result provided by computation circuitry, wherein
• the computation circuitry performing
• identifying a vehicle outdoor environment based on an output from image circuitry;
• setting a route on which the vehicle is to travel, in accordance with the vehicle outdoor environment previously identified;
• determining a target motion of the vehicle to follow the route previously set;
• calculating target physical quantities to be executed by the traveling devices to achieve the target motion previously determined;
• and
• calculating controlled variables of the travelling devices such that the target physical quantities calculated are achieved, and controlling a motion of the vehicle by applying the control signals that contain the controlled variables to the travelling devices.