MOBILE ENTITY MOTION CONTROLLER, MOBILE ENTITY MOTION CONTROL METHOD, AND MOBILE ENTITY MOTION CONTROL PROGRAM

摘要

PROBLEM TO BE SOLVED: To suppress, by a simple configuration, the influence induced as vehicle behavior in correspondence to an aerodynamic force such as a cross wind disturbance transiently acting on a mobile entity.SOLUTION: Using the pressure values of a pair of pressure sensors (16), the present invention determines a scene of the aerodynamic force of cross wind encountered by a vehicle, etc. (123), predicts an aerodynamic force in correspondence to a mild change or a rapid change of cross wind when the cross wind acts on the whole of the vehicle (125), and predicts and corrects an overshoot where, in a scene of inrush into a cross wind zone, the aerodynamic force acting on the vehicle transiently changes and yaw moment, etc., becomes excessively large (124, 128). Then, the present invention predicts, in correspondence to the scene where a cross wind acts on the vehicle, the behavior of the vehicle that changes in correspondence to the aerodynamic force (129), and controls the drive of the vehicle so that the vehicle behaves so as to cancel out its predicted behavior (20). Thus, it is possible to suppress the influence induced as vehicle behavior in correspondence to an aerodynamic force acting on the vehicle in a short time by a simple configuration.SELECTED DRAWING: Figure 3