Vehicle Control Apparatus, Vehicle Control Method, and Vehicle Control System

A vehicle control method executed by a control unit mounted in a vehicle, the vehicle control method comprising:

• acquiring occupant specifications including a mass of an occupant in the vehicle and position of center of gravity of the occupant;
• acquiring a physical quantity about an attitude angle of the vehicle, the attitude angle including at least one of a roll angle and a pitch angle of the vehicle;
• acquiring a physical quantity about an acceleration of the vehicle;
• and
• outputting a control command for activating an actuator unit that controls an attitude of the vehicle based on a physical quantity about a moment applied to the occupant, with the moment being calculated based on the occupant specifications, the physical quantity about the attitude angle, and the physical quantity about the acceleration, and the moment including at least one of an occupant roll moment and an occupant pitch moment applied to the occupant by a force that the occupant receives from a behavior of the vehicle.

A vehicle control system comprising:

• an attitude angle detection unit that detects a physical quantity about an attitude angle of a vehicle, the attitude angle including at least one of a roll angle and a pitch angle of the vehicle;
• an actuator unit that controls an attitude of the vehicle;
• and
• a control unit that outputs a result obtained by an operation based on input information,
• wherein the control unit acquires occupant specifications including a mass of an occupant in the vehicle and position of center of gravity of the occupant, acquires a physical quantity about the attitude angle of the vehicle, the attitude angle including at least one of the roll angle and the pitch angle of the vehicle, acquires a physical quantity about an acceleration of the vehicle, and outputs a control command for activating the actuator unit that controls the attitude of the vehicle based on a physical quantity about a moment applied to the occupant, with the moment being calculated based on the occupant specifications, the physical quantity about the attitude angle, and the physical quantity about the acceleration, and the moment including at least one of an occupant roll moment and an occupant pitch moment applied to the occupant by a force that the occupant receives from a behavior of the vehicle.