Vehicle control device and vehicle control system

A vehicle control device for controlling an actuator which is provided between a vehicle body and a wheel of a vehicle, and is configured to change a force for suppressing a relative displacement between the vehicle body and the wheel, 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 provided to the vehicle and a vehicle speed of the vehicle detected by a vehicle speed sensor provided to the vehicle, and to remove a high-frequency component of the estimated first lateral acceleration;
• a second lateral acceleration calculation unit configured to estimate a second lateral acceleration of the vehicle estimated based on an operation amount of the vehicle, and to remove a low-frequency component of the estimated second lateral acceleration;
• and
• a third 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 vehicle control system, comprising:

• a force generation mechanism configured to adjust a force between a vehicle body and a wheel of a vehicle;
• and
• a controller including:
• 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 provided to the vehicle and a vehicle speed of the vehicle detected by a vehicle speed sensor provided to the vehicle, and to remove a high-frequency component of the estimated first lateral acceleration;
• a second lateral acceleration calculation unit configured to estimate a second lateral acceleration of the vehicle estimated based on an operation amount of the vehicle, and to remove a low-frequency component of the estimated second lateral acceleration;
• and
• a third 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.