Vehicle control devices, vehicle control methods and procedures

Abstract

This disclosure relates to a vehicle control device, a vehicle control method, and a procedure. The vehicle control device performs the following processing: estimating the current vehicle state after a predetermined time has elapsed based on the control requirements of the vehicle's actuator and the current vehicle state, and calculating a protection reference value corresponding to the current vehicle state after the predetermined time has elapsed; performing a delay processing on the protection reference value; calculating a limit value for the actuator's control requirements based on the protection reference value after the delay processing, i.e., the protection reference value after the delay processing; and calculating the actuator's control requirements, i.e., the control requirements after protection, based on the actuator's control requirements and the limit value of the actuator's control requirements.

Description

Technical Field

[0001] This invention relates to a vehicle control device, a vehicle control method, and a program. Background Technology

[0002] Japanese Patent Application Publication No. 2023-135042 discloses a technology that suppresses abrupt changes in the steering angle when the vehicle speed changes from below a specified speed to above a specified speed. In this technology, when the vehicle speed is below the specified speed, the upper limit of the target value of the steering angle is limited to a small value. When the vehicle speed transitions from below the specified speed to above the specified speed, the target value of the steering angle changes slowly to an unrestricted value. That is, a difference is set between the upper limit of the target value of the steering angle when the vehicle speed is below the specified speed and the upper limit of the target value of the steering angle when the vehicle speed changes from below the specified speed to above the specified speed. This prevents abrupt changes in the target value of the steering angle. Summary of the Invention

[0003] To ensure the reliability of the limit value, it is also necessary to ensure the reliability of the reference value used to calculate the limit value (vehicle speed in the technology described in Japanese Patent Application Publication No. 2023-135042). However, the technology described in Japanese Patent Application Publication No. 2023-135042 does not include measures to ensure the reliability of the reference value. Sensors that detect the reference value (vehicle speed) and control devices that calculate the reference value (target vehicle speed) may sometimes malfunction. In such cases, the technology described in Japanese Patent Application Publication No. 2023-135042 may output abnormal values ​​for the target steering angle during the period until these malfunctions are detected.

[0004] In view of the above, the object of the present invention is to provide a vehicle control device, vehicle control method and program that can suppress the risk of outputting abnormal values ​​when a fault occurs.

[0005] (1) One aspect of the present invention is a vehicle control device comprising:

[0006] The forward processing unit estimates the current vehicle state after a specified time has elapsed based on the control requirements of the vehicle's actuators and the current vehicle state, and calculates a protection reference value corresponding to the current vehicle state after the specified time has elapsed.

[0007] The delay processing unit performs delay processing on the protection reference value calculated by the look-ahead processing unit;

[0008] The output protection value calculation and processing unit calculates the limit value of the control requirement of the actuator based on the protection reference value after the delay processing unit has performed the delay processing, i.e., the protection reference value after delay processing; and

[0009] The post-protection control requirement calculation and processing unit calculates the control requirement of the actuator that does not exceed the limit value, i.e., the post-protection control requirement, based on the control requirement of the actuator and the limit value calculated by the output protection value calculation and processing unit.

[0010] (2) In the vehicle control device of (1), the forward processing unit can convert the current vehicle state after the specified time has elapsed into reference information and calculate the protection reference value corresponding to the reference information.

[0011] (3) In the vehicle control device of (1), the delay processing unit can perform the delay processing by performing a process of determining the protection reference value after the specified time has been sustained.

[0012] (4) One aspect of the present invention is a vehicle control method, which includes the following steps:

[0013] In the forward processing step, the vehicle control device estimates the current vehicle state after a specified time has elapsed based on the control requirements of the vehicle's actuators and the current vehicle state, and calculates a protection reference value corresponding to the current vehicle state after the specified time has elapsed.

[0014] In the delay processing step, the vehicle control device performs delay processing on the protection reference value calculated in the look-ahead processing step;

[0015] In the output protection value calculation and processing step, the vehicle control device calculates the limit value of the control requirement for the actuator based on the protection reference value after the delay processing step, i.e., the protection reference value after delay processing; and

[0016] In the post-protection control requirement calculation and processing step, the vehicle control device calculates the control requirement of the actuator, i.e., the post-protection control requirement, based on the control requirement of the actuator and the limit value calculated in the output protection value calculation and processing step.

[0017] (5) One aspect of the present invention is a program for causing a processor to perform the following steps:

[0018] In the forward processing step, the vehicle control device estimates the current vehicle state after a specified time has elapsed based on the control requirements of the vehicle's actuators and the current vehicle state, and calculates a protection reference value corresponding to the current vehicle state after the specified time has elapsed.

[0019] The delay processing step performs delay processing on the protection reference value calculated in the look-ahead processing step;

[0020] The output protection value calculation and processing step calculates the limit value of the control requirement of the actuator based on the protection reference value after the delay processing step, i.e., the protection reference value after delay processing; and

[0021] The post-protection control requirement calculation and processing step calculates the control requirement of the actuator that does not exceed the limit value, i.e., the post-protection control requirement, based on the control requirement of the actuator and the limit value calculated in the output protection value calculation and processing step.

[0022] According to the present invention, the risk of outputting abnormal values ​​when a fault occurs can be suppressed. Attached Figure Description

[0023] Hereinafter, with reference to the accompanying drawings, the features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will be described, in which the same reference numerals denote the same elements, and wherein:

[0024] Figure 1 This is a diagram showing an example of a vehicle 1 to which the vehicle control device 13 of the first embodiment is applied.

[0025] Figure 2 It means Figure 1 The diagram shows an example of the data flow within vehicle 1.

[0026] Figure 3 This is a diagram illustrating an example of the relationship between the limit value of the control requirement of the actuator 14 calculated by the output protection value calculation and processing unit 3C-2 and the protection reference value after delay processing output from the delay processing unit 3B-2.

[0027] Figure 4 This is a diagram showing an example of a vehicle 1 that uses the vehicle control device 13 of the fourth embodiment.

[0028] Figure 5 This is a flowchart illustrating an example of the processing performed by the processor 133 of the vehicle control device 13 of the fourth embodiment. Detailed Implementation

[0029] Hereinafter, with reference to the accompanying drawings, embodiments of the vehicle control device, vehicle control method, and program of the present invention will be described.

[0030] Implementation Method 1

[0031] Figure 1 This is a diagram showing an example of a vehicle 1 to which the vehicle control device 13 of the first embodiment is applied. Figure 2 It means Figure 1 The diagram shows an example of the data flow within vehicle 1.

[0032] exist Figure 1 and Figure 2 In the example shown, vehicle 1 includes a vehicle status sensor 11, a human-machine interface (HMI) 12, a vehicle control device 13, and an actuator 14.

[0033] The vehicle status sensor 11 detects (estimates) the current status of the vehicle 1 (current vehicle status) and sends the current vehicle status to the vehicle control unit 13. The vehicle status sensor 11 includes a vehicle speed sensor, an acceleration sensor, a yaw rate sensor, etc.

[0034] HMI12 has the function of accepting various operations from the driver of vehicle 1 and sending signals indicating the driver's operations to vehicle control unit 13. HMI12 includes accelerator pedal (and a sensor that detects the amount of its operation), steering wheel (and a steering angle sensor), brake pedal (and a sensor that detects the amount of its operation), etc.

[0035] exist Figure 1 and Figure 2 In the example shown, the vehicle control unit 13 controls the actuator 14 based on the current vehicle status sent from the vehicle status sensor 11, signals indicating the driver's operation of the vehicle 1 sent from the HMI 12, etc. The actuator 14 is, for example, a drive actuator, a steering actuator, a brake actuator, etc. The vehicle control unit 13 includes a first control unit 13-1 and a second control unit 13-2.

[0036] The first control unit 13-1 consists of an Electronic Control Unit (ECU). The first control unit 13-1 has a communication interface (I / F) 131-1, a memory 132-1, and a processor 133-1. The communication interface 131-1 has interface circuitry for connecting the first control unit 13-1 to vehicle status sensors 11, HMI 12, the second control unit 13-2, etc. The memory 132-1 stores programs and various data used in the processing executed by the processor 133-1. The processor 133-1 functions as an acquisition unit 3A-1, a control requirement calculation processing unit 3B-1, and a look-ahead processing unit 3C-1.

[0037] The acquisition unit 3A-1 acquires the current vehicle status sent from the vehicle status sensor 11 and the signal indicating the driver's operation of the vehicle 1 sent from the HMI 12.

[0038] The control requirement processing unit 3B-1 calculates the control requirement of the actuator 14 based on the signal representing the driver's operation of the vehicle 1 acquired by the acquisition unit 3A-1.

[0039] In the first example where the acquisition unit 3A-1 acquires a signal indicating the amount of operation of the accelerator pedal as a signal indicating the operation of the driver of vehicle 1, the control requirement calculation processing unit 3B-1 calculates the target acceleration as the control requirement of actuator 14 (drive actuator).

[0040] In the second example where the acquisition unit 3A-1 acquires a signal representing the detection result of the steering angle sensor as a signal representing the driver's operation of the vehicle 1, the control requirement calculation processing unit 3B-1 calculates the target steering angle as the control requirement of the actuator 14 (steering actuator).

[0041] The forward-looking processing unit 3C-1 estimates the current vehicle state after a specified time has elapsed based on the control requirements of the actuator 14 calculated by the control requirement calculation processing unit 3B-1 and the current vehicle state acquired by the acquisition unit 3A-1. The control requirements of the actuator 14 include target acceleration, target steering angle, etc. The current vehicle state includes vehicle speed, acceleration, yaw rate, etc.

[0042] In the first example where the acquisition unit 3A-1 acquires a signal indicating the amount of operation of the accelerator pedal as a signal indicating the operation of the driver of vehicle 1, the forward processing unit 3C-1 estimates, for example, the vehicle speed and acceleration after a specified time has elapsed as the current vehicle state after the specified time has elapsed.

[0043] In the second example where the acquisition unit 3A-1 acquires a signal representing the detection result of the steering angle sensor as a signal representing the driver's operation of the vehicle 1, the forward processing unit 3C-1 estimates, for example, the yaw rate after a specified time has elapsed as the current vehicle state after the specified time has elapsed.

[0044] Furthermore, the forward-looking processing unit 3C-1 calculates a protection reference value corresponding to the current vehicle state (vehicle speed, acceleration, yaw rate, etc.) after a specified time has elapsed. In detail, the forward-looking processing unit 3C-1 converts the current vehicle state (vehicle speed, acceleration, yaw rate, etc.) after a specified time has elapsed into reference information and calculates the protection reference value corresponding to that reference information.

[0045] The first control device 13-1 sends the control requirements of the actuator 14 calculated by the control requirement calculation and processing unit 3B-1 and the protection reference values ​​calculated by the look-ahead processing unit 3C-1 to the second control device 13-2.

[0046] The second control device 13-2 consists of an output section ECU, for example, disposed within the actuator 14. The second control device 13-2 has a communication interface 131-2, a memory 132-2, and a processor 133-2. The communication interface 131-2 has interface circuitry for connecting the second control device 13-2 to the vehicle status sensor 11, HMI 12, the first control device 13-1, the actuator 14, etc. The memory 132-2 stores programs and various data used in the processing executed by the processor 133-2. The processor 133-2 functions as an acquisition unit 3A-2, a delay processing unit 3B-2, an output protection value calculation processing unit 3C-2, and a post-protection control requirement calculation processing unit 3D-2.

[0047] The acquisition unit 3A-2 acquires the control requirements and protection reference values ​​of the actuator 14 sent from the first control device 13-1.

[0048] The delay processing unit 3B-2 performs delay processing on the protection reference value acquired by the acquisition unit 3A-2 (i.e., the protection reference value calculated by the look-ahead processing unit 3C-1), and outputs the protection reference value after delay processing. Specifically, the delay processing unit 3B-2 performs delay processing on the protection reference value acquired by the acquisition unit 3A-2 for a specified amount of time, as used in the look-ahead processing unit 3C-1.

[0049] The output protection value calculation and processing unit 3C-2 calculates the limit value of the control requirement for the actuator 14 based on the protection reference value after delay processing output from the delay processing unit 3B-2. The protection reference value after delay processing output from the delay processing unit 3B-2 is the protection reference value after delay processing performed by the delay processing unit 3B-2.

[0050] In the first example where the acquisition unit 3A-1 acquires a signal indicating the amount of operation of the accelerator pedal as a signal indicating the operation of the driver of vehicle 1, the output protection value calculation and processing unit 3C-2 calculates a limit value of the target acceleration as a limit value of the control requirement of actuator 14.

[0051] In the second example where the acquisition unit 3A-1 acquires a signal representing the detection result of the steering angle sensor as a signal representing the driver's operation of the vehicle 1, the output protection value calculation processing unit 3C-2 calculates a limit value for the target steering angle as a limit value for the control requirements of the actuator 14.

[0052] Figure 3 This represents the limit value of the control requirement of the actuator 14 calculated by the output protection value calculation and processing unit 3C-2. Figure 3 The vertical axis) and the reference value for protection after delay processing output from the delay processing unit 3B-2 ( Figure 3A graph showing the relationship between the horizontal axis and the x-axis.

[0053] exist Figure 3 In the example shown, a relationship is established between the control requirement limit value of actuator 14 and the protection reference value after delay processing, so that the control requirement limit value of actuator 14 decreases as the protection reference value after delay processing increases. Specifically, in Figure 3 In the example shown, the relationship between the control requirement limit value of actuator 14 and the protection reference value after delay processing is set so that the slope of the control requirement limit value of actuator 14 relative to the protection reference value after delay processing decreases as the protection reference value after delay processing increases.

[0054] exist Figure 1 and Figure 2 In the example shown, the output protection value calculation and processing unit 3C-2, for example, uses... Figure 3 The table shows the relationship between the control requirement limit value of the actuator 14 and the protection reference value after delay processing. Therefore, the control requirement limit value of the actuator 14 is calculated based on the protection reference value after delay processing output from the delay processing unit 3B-2. That is, the control requirement limit value of the actuator 14 corresponding to the protection reference value after delay processing output from the delay processing unit 3B-2 is selected from the multidimensional lookup table.

[0055] The post-protection control requirement calculation and processing unit 3D-2 calculates the control requirement of the actuator 14, which is the control requirement of the actuator 14 that does not exceed the limit value of the control requirement of the actuator 14. The post-protection control requirement is calculated based on the control requirement of the actuator 14 obtained by the acquisition unit 3A-2 and the limit value of the control requirement of the actuator 14 calculated by the output protection value calculation and processing unit 3C-2. The control requirement of the actuator 14 obtained by the acquisition unit 3A-2 is the same as the control requirement of the actuator 14 calculated by the control requirement calculation and processing unit 3B-1.

[0056] In detail, the control requirements for the actuator 14 calculated by the control requirement calculation and processing unit 3B-1 are sometimes lower than the limit value of the control requirements for the actuator 14 calculated by the output protection value calculation and processing unit 3C-2. In this case, the post-protection control requirement calculation and processing unit 3D-2 calculates the control requirements for the actuator 14 calculated by the control requirement calculation and processing unit 3B-1 as the post-protection control requirements.

[0057] On the other hand, for example, due to a malfunction in the control requirement calculation and processing unit 3B-1, the control requirement of the actuator 14 calculated by the control requirement calculation and processing unit 3B-1 may sometimes exceed the limit value of the control requirement of the actuator 14 calculated by the output protection value calculation and processing unit 3C-2. In this case, the post-protection control requirement calculation and processing unit 3D-2 calculates the limit value of the control requirement of the actuator 14 calculated by the output protection value calculation and processing unit 3C-2 as the post-protection control requirement.

[0058] In the first example where the acquisition unit 3A-1 acquires a signal indicating the amount of accelerator pedal operation as a signal indicating the driver's operation of vehicle 1, the protection post-control requirement calculation and processing unit 3D-2 calculates a protection post-control requirement that does not exceed the limit value of the control requirement of actuator 14. In this first example, actuator 14 is a drive actuator, the control requirement is the target acceleration, and the protection post-control requirement is the protection post-target acceleration.

[0059] In the second example where the acquisition unit 3A-1 acquires a signal representing the detection result of the steering angle sensor as a signal representing the driver's operation of vehicle 1, the protection post-control requirement calculation processing unit 3D-2 calculates a protection post-control requirement (protection post-target steering angle) that does not exceed the limit value of the control requirement (target steering angle) of actuator 14 (steering actuator). In the second example, actuator 14 is a steering actuator, the control requirement is the target steering angle, and the protection post-control requirement is the protection post-target steering angle.

[0060] As mentioned above, in Figure 1 and Figure 2 In the example shown, in order to select the dynamic protection reference value to be set in the output ECU, the look-ahead processing unit 3C-1 of the control ECU estimates the current vehicle state (vehicle speed, acceleration, yaw rate, etc.) after a specified time has elapsed. The output ECU is the second control device 13-2, and the control ECU is the first control device 13-1. The estimated current vehicle state (vehicle speed, acceleration, yaw rate, etc.) after the specified time has elapsed is used to calculate the protection reference value. The protection reference value is a reference value for the limit value of the control requirement of the actuator 14 calculated by the output protection value calculation processing unit 3C-2.

[0061] When a malfunction occurs in the control section ECU, the reliability of the control requirements for the actuator 14 calculated by the control requirement calculation and processing unit 3B-1 decreases. However, in Figure 1 and Figure 2 In the example shown, because the protection reference value is delayed in the output ECU, the immediate impact of a fault in the control ECU can be prevented.

[0062] Assume that there exists a situation where the control ECU is configured to detect its own faults with high reliability. Even in this case, it is possible that abnormal values ​​(abnormal control requests) will be output from the control ECU during the period between the occurrence of a control ECU fault and its detection. The protective reference values ​​output from the control ECU need to have high reliability to avoid improper control of the actuator based on abnormal control requests output from the control ECU.

[0063] Therefore, in Figure 1 and Figure 2 In the example shown, as described above, the delay processing unit 3B-2 performs delay processing on the protection reference value for calculating the limit value of the control requirement of the actuator 14. The protection reference value for calculating the limit value of the control requirement of the actuator 14 is the protection reference value output from the control section ECU (first control device 13-1).

[0064] That is, in Figure 1 and Figure 2 In the example shown, in order to ensure the reliability of the limit value of the control requirements of actuator 14, the reliability of the protection reference value is also ensured.

[0065] Therefore, in Figure 1 and Figure 2 In the example shown, even if the control section ECU (first control device 13-1) fails, it is possible to suppress abnormal values ​​that would otherwise be required to output control to the actuator 14.

[0066] Implementation Method 2

[0067] The vehicle 1 using the vehicle control device 13 of the second embodiment is configured in the same way as the vehicle 1 using the vehicle control device 13 of the first embodiment, except for the points described later.

[0068] As described above, in an example of a vehicle 1 using the vehicle control device 13 of the first embodiment ( Figures 1 to 3 In the example shown, the forward-looking processing unit 3C-1 converts the current vehicle state (vehicle speed, acceleration, yaw rate, etc.) after a specified time has elapsed into reference information (protection reference value). The delay processing unit 3B-2 performs delay processing on the protection reference value and outputs the delayed protection reference value. Furthermore, the output protection value calculation processing unit 3C-2 calculates the protection reference value based on the delayed protection reference value and... Figure 3 The control requirements of actuator 14 are calculated using the relationships shown.

[0069] On the other hand, in an example of a vehicle 1 using the vehicle control device 13 of the second embodiment, the look-ahead processing unit 3C-1 does not convert the current vehicle state after a predetermined time into reference information (protective reference value). In this example, the delay processing unit 3B-2 performs delay processing on the current vehicle state after a predetermined time. The output protection value calculation processing unit 3C-2 calculates the limit value of the control requirement of the actuator 14. The limit value of the control requirement of the actuator 14 is calculated based on the relationship between the current vehicle state after a predetermined time after the delay processing and the limit value of the control requirement of the actuator 14 and the current vehicle state after a predetermined time after the delay processing. That is, in this example, the current vehicle state (vehicle speed, acceleration, yaw rate, etc.) estimated by the look-ahead processing unit 3C-1 after a predetermined time is used as a protective reference value.

[0070] Third implementation method

[0071] The vehicle 1 using the vehicle control device 13 of the third embodiment is configured in the same way as the vehicle 1 using the vehicle control device 13 of the first embodiment, except for the points described later.

[0072] As described above, in an example of a vehicle 1 using the vehicle control device 13 of the first embodiment ( Figure 1 and Figure 2 In the example shown, the delay processing unit 3B-2 performs delay processing on the protection reference value calculated by the look-ahead processing unit 3C-1 for a "predetermined time" amount used in the look-ahead processing unit 3C-1.

[0073] On the other hand, in an example of a vehicle 1 using the vehicle control device 13 of the third embodiment, the delay processing unit 3B-2 performs processing to determine a protection reference value while the "predetermined time" used by the look-ahead processing unit 3C-1 continues. Thus, delay processing is performed on the protection reference value.

[0074] Implementation Method 4

[0075] The vehicle 1 using the vehicle control device 13 of the fourth embodiment is configured in the same way as the vehicle 1 using the vehicle control device 13 of the first embodiment, except for the points described later.

[0076] Figure 4 This is a diagram showing an example of a vehicle 1 that uses the vehicle control device 13 of the fourth embodiment.

[0077] As described above, in an example of a vehicle 1 using the vehicle control device 13 of the first embodiment ( Figure 1 and Figure 2In the example shown, the vehicle control device 13 includes a first control device 13-1 and a second control device 13-2. That is, the vehicle control device 13 is composed of a control section ECU corresponding to the first control device 13-1 and an output section ECU corresponding to the second control device 13-2.

[0078] On the other hand, in one example of a vehicle 1 that uses the vehicle control device 13 of the fourth embodiment ( Figure 4 In the example shown, the vehicle control unit 13 consists of a single ECU and includes a communication interface 131, a memory 132, and a processor 133. The processor 133 functions as an acquisition unit 3A, a control requirement calculation and processing unit 3B, and a look-ahead processing unit 3C. Furthermore, the processor 133 functions as a delay processing unit 3D, an output protection value calculation and processing unit 3E, and a post-protection control requirement calculation and processing unit 3F.

[0079] Figure 5 This is a flowchart illustrating an example of the processing performed by the processor 133 of the vehicle control device 13 of the fourth embodiment.

[0080] exist Figure 5 In the example shown, in S10, the acquisition unit 3A acquires the current vehicle status sent from the vehicle status sensor 11 and the signal indicating the driver's operation of the vehicle 1 sent from the HMI 12.

[0081] In S11, the control requirement processing unit 3B calculates the control requirement of the actuator 14 based on the signal representing the operation of the driver of vehicle 1 obtained in S10.

[0082] In S12, the look-ahead processing unit 3C estimates the current vehicle state after a predetermined time has elapsed based on the control requirements of the actuator 14 calculated in S11 and the current vehicle state obtained in S10. Then, the look-ahead processing unit 3C calculates a protection reference value corresponding to the current vehicle state after the predetermined time has elapsed.

[0083] In S13, the delay processing unit 3D performs delay processing on the protection reference value calculated in S12 and outputs the protection reference value after delay processing.

[0084] In S14, the output protection value calculation and processing unit 3E calculates the limit value of the control requirement of the actuator 14 based on the protection reference value after delay processing output in S13.

[0085] In S15, the post-protection control requirement calculation and processing unit 3F calculates the post-protection control requirement based on the control requirement of actuator 14 calculated in S11 and the limit value of the control requirement of actuator 14 calculated in S14. The post-protection control requirement is the control requirement of actuator 14 that does not exceed the limit value of the control requirement of actuator 14.

[0086] As described above, embodiments of the vehicle control device, vehicle control method, and program of the present invention will be explained with reference to the accompanying drawings. However, the vehicle control device, vehicle control method, and program of the present invention are not limited to the above embodiments, and appropriate modifications can be made without departing from the spirit of the present invention. The structures of the various examples of the above embodiments can be appropriately combined. In the examples of the above embodiments, the processing performed in the vehicle control device 13 is described as software processing performed by executing a program. However, the processing performed in the vehicle control device 13 may also be hardware processing. Alternatively, the processing performed in the vehicle control device 13 may be a combination of software and hardware processing. Furthermore, the program stored in the memory 132 of the vehicle control device 13 may be recorded in a computer-readable storage medium such as a semiconductor memory, magnetic recording medium, or optical recording medium for provision and distribution. In addition, the program stored in the memory 132 of the vehicle control device 13 is a program that implements the functions of the processor 133 of the vehicle control device 13.

Claims

1. A vehicle control device, characterized in that, have: The forward processing unit estimates the current vehicle state after a specified time has elapsed based on the control requirements of the vehicle's actuators and the current vehicle state, and calculates a protection reference value corresponding to the current vehicle state after the specified time has elapsed. The delay processing unit performs delay processing on the protection reference value calculated by the look-ahead processing unit; The output protection value calculation and processing unit calculates the limit value of the control requirement of the actuator based on the protection reference value after the delay processing unit has performed the delay processing, i.e., the protection reference value after delay processing; and The post-protection control requirement calculation and processing unit calculates the control requirement of the actuator that does not exceed the limit value, i.e., the post-protection control requirement, based on the control requirement of the actuator and the limit value calculated by the output protection value calculation and processing unit.

2. The vehicle control device according to claim 1, characterized in that, The forward processing unit converts the current vehicle status after the specified time has elapsed into reference information and calculates the protection reference value corresponding to the reference information.

3. The vehicle control device according to claim 1, characterized in that, The delay processing unit performs the delay processing by executing a process that determines the protection reference value after the specified time has elapsed.

4. A vehicle control method, characterized in that, Includes the following steps: In the forward processing step, the vehicle control device estimates the current vehicle state after a specified time has elapsed based on the control requirements of the vehicle's actuators and the current vehicle state, and calculates a protection reference value corresponding to the current vehicle state after the specified time has elapsed. In the delay processing step, the vehicle control device performs delay processing on the protection reference value calculated in the look-ahead processing step; In the output protection value calculation and processing step, the vehicle control device calculates the limit value of the control requirement of the actuator based on the protection reference value after the delay processing is performed in the delay processing step, i.e., the protection reference value after delay processing. and In the post-protection control requirement calculation and processing step, the vehicle control device calculates the control requirement of the actuator, i.e., the post-protection control requirement, based on the control requirement of the actuator and the limit value calculated in the output protection value calculation and processing step.

5. A program, characterized in that, The processor performs the following steps: In the forward processing step, the vehicle control device estimates the current vehicle state after a specified time has elapsed based on the control requirements of the vehicle's actuators and the current vehicle state, and calculates a protection reference value corresponding to the current vehicle state after the specified time has elapsed. The delay processing step performs delay processing on the protection reference value calculated in the look-ahead processing step; The output protection value calculation and processing step calculates the limit value of the control requirement of the actuator based on the protection reference value after the delay processing step, i.e., the protection reference value after delay processing; and The post-protection control requirement calculation and processing step calculates the control requirement of the actuator that does not exceed the limit value, i.e., the post-protection control requirement, based on the control requirement of the actuator and the limit value calculated in the output protection value calculation and processing step.

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