Vehicle control device, vehicle control method, and program

Abstract

This suppresses the risk of abnormal values ​​being output in the event of a malfunction. [Solution] The vehicle control device 13 estimates the current vehicle state after a predetermined time has elapsed based on the control request of the actuator 14 of the vehicle 1 and the current vehicle state, calculates a guard reference value corresponding to the current vehicle state after the predetermined time has elapsed, performs a delay process on the guard reference value, calculates a limit value for the control request of the actuator 14 based on the delayed guard reference value which is the guard reference value after the delay process has been performed, and calculates a post-guard control request which is the control request of the actuator that does not exceed the limit value for the control request of the actuator 14, based on the control request of the actuator 14 and the limit value for the control request of the actuator 14.

Description

【Technical Field】 【0001】 The present disclosure relates to a vehicle control device, a vehicle control method, and a program. 【Background Art】 【0002】 Patent Document 1 describes a technique for suppressing a sudden change in the steering angle when the vehicle speed switches from a state below a predetermined speed to a state exceeding the predetermined speed. In the technique described in Patent Document 1, in order to suppress a sudden change in the steering angle when the vehicle speed switches from a state below a predetermined speed to a state exceeding the predetermined speed, when the vehicle speed is in a state below the predetermined speed, the upper limit value of the magnitude of the target value of the steering angle is limited to the smaller side, and when the vehicle speed shifts from a state below the predetermined speed to a state exceeding the predetermined speed, the target value of the steering angle is gradually changed to a value not subject to the limitation. That is, in the technique described in Patent Document 1, a difference is provided between the limit value (upper limit value) of the magnitude of the target value of the steering angle when the vehicle speed is below the predetermined speed and the limit value (upper limit value) of the magnitude of the target value of the steering angle when the vehicle speed switches from a state below the predetermined speed to a state exceeding the predetermined speed, so that the target value of the steering angle does not change suddenly. 【Prior Art Documents】 【Patent Documents】 【0003】 【Patent Document 1】 Japanese Unexamined Patent Application Publication No. 2023-135042 【Summary of the Invention】 【Problems to be Solved by the Invention】 【0004】 In order to ensure the reliability of the limit value, it is considered necessary to ensure the reliability of the reference value (vehicle speed in the technology described in Patent Document 1) used to calculate the limit value. In the technology described in Patent Document 1, no processing is performed to ensure the reliability of the reference value. Therefore, in the technology described in Patent Document 1, if the sensor that detects the reference value (vehicle speed) or the control device that calculates the reference value (target vehicle speed) fails, there is a risk that an abnormal value for the target steering angle may be output during the period before the failure is detected. 【0005】 In view of the above, the purpose of this disclosure is to provide a vehicle control device, a vehicle control method, and a program that can suppress the risk of abnormal values ​​being output in the event of a malfunction. [Means for solving the problem] 【0006】 (1) One aspect of the present disclosure is a vehicle control device comprising: a look-ahead processing unit that estimates the current vehicle state after a predetermined time has elapsed based on the control request of the vehicle actuator and the current vehicle state, and calculates a guard reference value corresponding to the current vehicle state after the predetermined time has elapsed; a delay processing unit that performs a delay process on the guard reference value calculated by the look-ahead processing unit; an output guard value calculation processing unit that calculates a limit value for the actuator control request based on a delayed guard reference value which is the guard reference value after the delay processing has been performed by the delay processing unit; and a post-guard control request calculation processing unit that calculates a post-guard control request which is the control request of the actuator that does not exceed the limit value, based on the control request of the actuator and the limit value calculated by the output guard value calculation processing unit. 【0007】 (2) In the vehicle control device of (1), the look-ahead processing unit may convert the current vehicle state after the predetermined time has elapsed into reference information and calculate the guard reference value corresponding to the reference information. 【0008】 (3) In the vehicle control device of (1), the delay processing unit may perform the delay processing by performing a process to determine the guard reference value when the predetermined time has elapsed. 【0009】 (4) One aspect of the present disclosure is a vehicle control method comprising: a look-ahead processing step in which a vehicle control device estimates the current vehicle state after a predetermined time has elapsed based on a control request for an actuator of the vehicle and the current vehicle state, and calculates a guard reference value corresponding to the current vehicle state after the predetermined time has elapsed; a delay processing step in which the vehicle control device performs a delay processing on the guard reference value calculated in the look-ahead processing step; an output guard value calculation processing step in which the vehicle control device calculates a limit value for the actuator control request based on a delayed guard reference value which is the guard reference value after the delay processing has been performed in the delay processing step; and a post-guard control request calculation processing step in which the vehicle control device calculates a post-guard control request which is the control request for the actuator that does not exceed the limit value, based on the control request for the actuator and the limit value calculated in the output guard value calculation processing step. 【0010】 (5) One aspect of the present disclosure is a program that causes a vehicle control device to perform the following steps: a look-ahead processing step which estimates the current vehicle state after a predetermined time has elapsed based on the control request of the vehicle actuator and the current vehicle state, and calculates a guard reference value corresponding to the current vehicle state after the predetermined time has elapsed; a delay processing step which performs a delay processing on the guard reference value calculated in the look-ahead processing step; an output guard value calculation processing step which calculates a limit value for the actuator control request based on a delayed guard reference value which is the guard reference value after the delay processing has been performed in the delay processing step; and a post-guard control request calculation processing step which calculates a post-guard control request which is the control request of the actuator that does not exceed the limit value, based on the control request of the actuator and the limit value calculated in the output guard value calculation processing step. [Effects of the Invention] 【0011】 According to this disclosure, the risk of abnormal values ​​being output in the event of a malfunction can be suppressed. [Brief explanation of the drawing] 【0012】 [Figure 1] This figure shows an example of a vehicle 1 to which the vehicle control device 13 of the first embodiment is applied. [Figure 2] Figure 1 shows an example of the data flow within vehicle 1. [Figure 3] This figure shows an example of the relationship between the limit value of the control request for the actuator 14 calculated by the output guard value calculation processing unit 3C-2 and the reference value for the delayed guard output from the delay processing unit 3B-2. [Figure 4] This figure shows an example of a vehicle 1 to which the vehicle control device 13 of the fourth embodiment is applied. [Figure 5] This is a flowchart illustrating an example of processing performed by the processor 133 of the vehicle control device 13 in the fourth embodiment. [Modes for carrying out the invention] 【0013】 Hereinafter, embodiments of the vehicle control device, vehicle control method, and program of this disclosure will be described with reference to the drawings. 【0014】 <First Embodiment> Figure 1 shows an example of a vehicle 1 to which the vehicle control device 13 of the first embodiment is applied. Figure 2 shows an example of the data flow within the vehicle 1 shown in Figure 1. In the example shown in Figures 1 and 2, vehicle 1 is equipped with a vehicle condition sensor 11, an HMI (Human Machine Interface) 12, a vehicle control device 13, and an actuator 14. The vehicle condition sensor 11 detects (estimates) the current state of vehicle 1 (current vehicle state) and transmits the current vehicle state to the vehicle control device 13. The vehicle condition sensor 11 includes a vehicle speed sensor, an acceleration sensor, a yaw rate sensor, etc. The HMI 12 has the function of receiving various operations from the driver of vehicle 1 and transmits signals indicating the driver's operations to the vehicle control device 13. The HMI 12 includes an accelerator pedal (and a sensor that detects the amount of operation of the accelerator), a steering wheel (and a steering angle sensor), a brake pedal (and a sensor that detects the amount of operation of the brake pedal), and the like. 【0015】 In the examples shown in Figures 1 and 2, the vehicle control device 13 controls the actuators 14 (e.g., drive actuator, steering actuator, braking actuator, etc.) based on the current vehicle status transmitted from the vehicle status sensor 11, signals indicating the driver's operation of vehicle 1 transmitted from the HMI 12, etc. The vehicle control device 13 comprises a first control device 13-1 and a second control device 13-2. The first control unit 13-1 is composed of a control stage ECU (Electronic Control Unit). 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 an interface circuit for connecting the first control unit 13-1 to the vehicle condition sensor 11, HMI 12, second control unit 13-2, etc. The memory 132-1 stores programs and various data used in processing executed by the processor 133-1. The processor 133-1 has the functions of an acquisition unit 3A-1, a control request calculation processing unit 3B-1, and a look-ahead processing unit 3C-1. 【0016】 The acquisition unit 3A-1 acquires the current vehicle status transmitted from the vehicle status sensor 11 and signals indicating the driver's operation of vehicle 1 transmitted from the HMI 12. The control request calculation processing unit 3B-1 calculates a control request for the actuator 14 based on the signal indicating the operation of the vehicle 1 driver, which is acquired by the acquisition unit 3A-1. In the first example where the acquisition unit 3A-1 acquires a signal indicating the operation amount of the accelerator pedal as a signal indicating the operation of the driver of the vehicle 1, the control request calculation processing unit 3B-1 calculates a target acceleration as a control request for the actuator 14 (drive actuator). In the second example where the acquisition unit 3A-1 acquires a signal indicating the detection result of the steering angle sensor as a signal indicating the operation of the driver of the vehicle 1, the control request calculation processing unit 3B-1 calculates a target steering angle as a control request for the actuator 14 (steering actuator). 【0017】 The pre-reading processing unit 3C-1 estimates the current vehicle state (vehicle speed, acceleration, yaw rate, etc.) after a predetermined time based on the control request for the actuator 14 (target acceleration, target steering angle, etc.) calculated by the control request calculation processing unit 3B-1 and the current vehicle state (vehicle speed, acceleration, yaw rate, etc.) acquired by the acquisition unit 3A-1. In the first example where the acquisition unit 3A-1 acquires a signal indicating the operation amount of the accelerator pedal as a signal indicating the operation of the driver of the vehicle 1, the pre-reading processing unit 3C-1 estimates, for example, the vehicle speed, acceleration, etc. after a predetermined time as the current vehicle state after a predetermined time. In the second example where the acquisition unit 3A-1 acquires a signal indicating the detection result of the steering angle sensor as a signal indicating the operation of the driver of the vehicle 1, the pre-reading processing unit 3C-1 estimates, for example, the yaw rate after a predetermined time as the current vehicle state after a predetermined time. Further, the pre-reading processing unit 3C-1 calculates a guard reference value corresponding to the current vehicle state (vehicle speed, acceleration, yaw rate, etc.) after a predetermined time. Specifically, the pre-reading processing unit 3C-1 converts the current vehicle state (vehicle speed, acceleration, yaw rate, etc.) after a predetermined time into reference information, and calculates a guard reference value corresponding to the reference information. The first control device 13-1 transmits the control request for the actuator 14 calculated by the control request calculation processing unit 3B-1 and the guard reference value calculated by the pre-reading processing unit 3C-1 to the second control device 13-2. 【0018】 The second control unit 13-2 is composed of an output stage ECU and is located, for example, within the actuator 14. The second control unit 13-2 has a communication interface 131-2, a memory 132-2, and a processor 133-2. The communication interface 131-2 has an interface circuit for connecting the second control unit 13-2 to the vehicle state sensor 11, HMI 12, the first control unit 13-1, the actuator 14, etc. The memory 132-2 stores programs and various data used in processing executed by the processor 133-2. The processor 133-2 has the functions of an acquisition unit 3A-2, a delay processing unit 3B-2, an output guard value calculation processing unit 3C-2, and a post-guard control request calculation processing unit 3D-2. 【0019】 The acquisition unit 3A-2 acquires the control request for the actuator 14 and the guard reference value transmitted from the first control device 13-1. The delay processing unit 3B-2 performs delay processing on the guard reference value acquired by the acquisition unit 3A-2 (i.e., the guard reference value calculated by the look-ahead processing unit 3C-1), and outputs the guard reference value after delay processing. In detail, the delay processing unit 3B-2 performs delay processing on the guard reference value acquired by the acquisition unit 3A-2 for a predetermined amount of time used by the look-ahead processing unit 3C-1. The output guard value calculation unit 3C-2 calculates the limit value for the control request of the actuator 14 based on the post-delayed guard reference value output from the delay processing unit 3B-2 (the post-delayed guard reference value, which is the guard reference value after the delay processing has been performed by the delay processing unit 3B-2). 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 output guard value calculation processing unit 3C-2 calculates a limit value for the target acceleration as a limit value for the control request of actuator 14. In the second example, where the acquisition unit 3A-1 acquires a signal indicating the detection result of the steering angle sensor as a signal indicating the operation of the driver of the vehicle 1, the output guard value calculation processing unit 3C-2 calculates a limit value for the target steering angle as a limit value for the control request of the actuator 14. 【0020】 Figure 3 shows an example of the relationship between the limit value of the control request for the actuator 14 calculated by the output guard value calculation processing unit 3C-2 (vertical axis in Figure 3) and the reference value for the delayed guard output from the delay processing unit 3B-2 (horizontal axis in Figure 3). In the example shown in Figure 3, the relationship between the limit value of the control request for actuator 14 and the reference value for the delayed guard is set such that the limit value of the control request for actuator 14 decreases as the reference value for the delayed guard increases. More specifically, in the example shown in Figure 3, the relationship between the limit value of the control request for actuator 14 and the reference value for the delayed guard is set such that the slope of the limit value of the control request for actuator 14 with respect to the reference value for the delayed guard decreases as the reference value for the delayed guard increases. 【0021】 In the examples shown in Figures 1 and 2, the output guard value calculation processing unit 3C-2 calculates the limit value of the control request for actuator 14 based on the reference value for the post-delayed guard output from the delay processing unit 3B-2, by using a multidimensional map corresponding to the relationship between the limit value of the control request for actuator 14 and the reference value for the post-delayed guard, as shown in Figure 3 (i.e., it selects the limit value of the control request for actuator 14 corresponding to the reference value for the post-delayed guard output from the delay processing unit 3B-2 from the multidimensional map). 【0022】 The post-guard control request calculation processing unit 3D-2 calculates a post-guard control request for actuator 14 that does not exceed the limit value of the actuator 14 control request, based on the control request for actuator 14 acquired by the acquisition unit 3A-2 (the control request for actuator 14 calculated by the control request calculation processing unit 3B-1) and the limit value of the control request for actuator 14 calculated by the output guard value calculation processing unit 3C-2. In detail, if the control request for actuator 14 calculated by the control request calculation unit 3B-1 is less than or equal to the limit value of the control request for actuator 14 calculated by the output guard value calculation unit 3C-2, the post-guard control request calculation unit 3D-2 calculates the control request for actuator 14 calculated by the control request calculation unit 3B-1 as the post-guard control request. On the other hand, if, for example, the control request for actuator 14 calculated by the control request calculation processing unit 3B-1 exceeds the limit value for the control request for actuator 14 calculated by the output guard value calculation processing unit 3C-2 due to a failure of the control request calculation processing unit 3B-1, the post-guard control request calculation processing unit 3D-2 calculates the limit value for the control request for actuator 14 calculated by the output guard value calculation processing unit 3C-2 as the post-guard control request. 【0023】 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 post-guard control request calculation processing unit 3D-2 calculates a post-guard control request (post-guard target acceleration) that does not exceed the limit value of the control request (target acceleration) for actuator 14 (drive actuator). In the second example, where the acquisition unit 3A-1 acquires a signal indicating the detection result of the steering angle sensor as a signal indicating the operation of the driver of vehicle 1, the post-guard control request calculation processing unit 3D-2 calculates a post-guard control request (post-guard target steering angle) that does not exceed the limit value of the control request (target steering angle) of actuator 14 (steering actuator). 【0024】 As described above, in the examples shown in Figures 1 and 2, in order to select a dynamic guard reference value to be set in the output stage ECU (second control device 13-2), the current vehicle state (vehicle speed, acceleration, yaw rate, etc.) after a predetermined time has elapsed is estimated by the look-ahead processing unit 3C-1 of the control stage ECU (first control device 13-1), and this current vehicle state (vehicle speed, acceleration, yaw rate, etc.) after the predetermined time has elapsed is used to calculate the guard reference value (the reference value of the limit value of the control request for the actuator 14 calculated by the output guard value calculation processing unit 3C-2). When the control stage ECU fails, the reliability of the control request for the actuator 14 calculated by the control request calculation processing unit 3B-1 decreases. However, in the examples shown in Figures 1 and 2, a delay is performed on the guard reference value in the output stage ECU, which prevents the control stage ECU failure from having an immediate impact. 【0025】 Even if the control stage ECU is configured to reliably detect its own failure, there is a risk that an abnormal value (abnormal control request) may be output from the control stage ECU during the period between the failure and the detection of the failure. In order to prevent the actuator from being improperly controlled based on an abnormal control request output from the control stage ECU, the guard reference value output from the control stage ECU must be highly reliable. Therefore, in the examples shown in Figures 1 and 2, as described above, the delay processing unit 3B-2 performs delay processing on the guard reference value (guard reference value output from the control stage ECU (first control device 13-1)) used to calculate the limit value of the control request for the actuator 14. In other words, in the examples shown in Figures 1 and 2, the reliability of the guard reference value is also ensured in order to ensure the reliability of the limit value of the control request for the actuator 14. Therefore, in the examples shown in Figures 1 and 2, even if the control stage ECU (first control device 13-1) fails, the risk of an abnormal value being output to the actuator 14 for control requests can be suppressed. 【0026】 <Second Embodiment> A vehicle 1 to which the vehicle control device 13 of the second embodiment is applied is configured in the same way as a vehicle 1 to which the vehicle control device 13 of the first embodiment is applied, except for the points described later. 【0027】 As described above, in an example of a vehicle 1 to which the vehicle control device 13 of the first embodiment is applied (an example shown in Figures 1 to 3), the look-ahead processing unit 3C-1 converts the current vehicle state (vehicle speed, acceleration, yaw rate, etc.) after a predetermined time has elapsed into reference information (guard reference value), the delay processing unit 3B-2 performs a delay process on the guard reference value and outputs the guard reference value after delay processing, and the output guard value calculation processing unit 3C-2 calculates the limit value of the control request for the actuator 14 based on the guard reference value after delay processing and the relationship shown in Figure 3. On the other hand, in an example of a vehicle 1 to which the vehicle control device 13 of the second embodiment is applied, the look-ahead processing unit 3C-1 does not convert the current vehicle state after a predetermined time has elapsed into reference information (guard reference value). In this example, the delay processing unit 3B-2 performs delay processing on the current vehicle state after a predetermined time has elapsed, and the output guard value calculation processing unit 3C-2 calculates the limit value for the control request of the actuator 14 based on the current vehicle state after a predetermined time has elapsed after the delay processing is performed, and the relationship between the limit value for the control request of the actuator 14 and the current vehicle state after a predetermined time has elapsed after the delay processing is performed. In other words, in this example, the current vehicle state after a predetermined time has elapsed (vehicle speed, acceleration, yaw rate, etc.) estimated by the look-ahead processing unit 3C-1 is used as the guard reference value. 【0028】 <Third Embodiment> A vehicle 1 to which the vehicle control device 13 of the third embodiment is applied is configured in the same way as a vehicle 1 to which the vehicle control device 13 of the first embodiment is applied, except for the points described later. 【0029】 As described above, in an example of a vehicle 1 to which the vehicle control device 13 of the first embodiment is applied (the example shown in Figures 1 and 2), the delay processing unit 3B-2 performs a delay processing for the "predetermined time" used in the look-ahead processing unit 3C-1 on the guard reference value calculated by the look-ahead processing unit 3C-1. On the other hand, in an example of a vehicle 1 to which the vehicle control device 13 of the third embodiment is applied, the delay processing unit 3B-2 performs a delay processing on the guard reference value by executing a process to determine the guard reference value when the "predetermined time" used in the look-ahead processing unit 3C-1 continues. 【0030】 <Fourth Embodiment> A vehicle 1 to which the vehicle control device 13 of the fourth embodiment is applied is configured in the same way as a vehicle 1 to which the vehicle control device 13 of the first embodiment is applied, except for the points described later. 【0031】 Figure 4 shows an example of a vehicle 1 to which the vehicle control device 13 of the fourth embodiment is applied. As described above, in an example of a vehicle 1 to which the vehicle control device 13 of the first embodiment is applied (the example shown in Figures 1 and 2), the vehicle control device 13 comprises 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 stage ECU corresponding to the first control device 13-1 and an output stage ECU corresponding to the second control device 13-2). On the other hand, in an example of a vehicle 1 to which the vehicle control device 13 of the fourth embodiment is applied (the example shown in Figure 4), the vehicle control device 13 is composed of one ECU and has a communication interface 131, a memory 132, and a processor 133. The processor 133 has the function of an acquisition unit 3A, a control request calculation processing unit 3B, a look-ahead processing unit 3C, a delay processing unit 3D, an output guard value calculation processing unit 3E, and a post-guard control request calculation processing unit 3F. 【0032】 Figure 5 is a flowchart illustrating an example of processing performed by the processor 133 of the vehicle control device 13 in the fourth embodiment. In the example shown in Figure 5, in step S10, the acquisition unit 3A-1 acquires the current vehicle status transmitted from the vehicle status sensor 11 and a signal indicating the driver's operation of vehicle 1 transmitted from the HMI 12. In step S11, the control request calculation processing unit 3B calculates a control request for the actuator 14 based on the signal indicating the operation of the driver of the vehicle 1, which was acquired in step S10. In step S12, the look-ahead processing unit 3C estimates the current vehicle state after a predetermined time has elapsed based on the control request for the actuator 14 calculated in step S11 and the current vehicle state acquired in step S10, and calculates a guard reference value corresponding to the current vehicle state after the predetermined time has elapsed. In step S13, the delay processing unit 3D performs delay processing on the guard reference value calculated in step S12 and outputs the guard reference value after delay processing. In step S14, the output guard value calculation processing unit 3E calculates a limit value for the control request of the actuator 14 based on the post-delayed guard reference value output in step S13. In step S15, the post-guard control request calculation processing unit 3F calculates a post-guard control request for the actuator 14 that does not exceed the limit value for the actuator 14 control request, based on the control request for the actuator 14 calculated in step S11 and the limit value for the control request for the actuator 14 calculated in step S14. 【0033】 As described above, embodiments of the vehicle control device, vehicle control method, and program of this disclosure have been explained with reference to the drawings. However, the vehicle control device, vehicle control method, and program of this disclosure are not limited to the embodiments described above, and can be modified as appropriate without departing from the spirit of this disclosure. The configurations of each example of the embodiments described above may be combined as appropriate. In each example of the embodiments described above, the processing performed by the vehicle control device 13 was described as software processing performed by executing a program, but the processing performed by the vehicle control device 13 may also be hardware processing. Alternatively, the processing performed by the vehicle control device 13 may be a combination of both software and hardware processing. Furthermore, the program stored in the memory 132 of the vehicle control device 13 (the program that realizes the functions of the processor 133 of the vehicle control device 13) may be recorded on a computer-readable storage medium such as a semiconductor memory, magnetic recording medium, or optical recording medium and provided and distributed. [Explanation of Symbols] 【0034】 1...Vehicle, 11...Vehicle status sensor, 12...HMI, 13...Vehicle control device, 13-1...First control device, 131-1...Communication interface, 132-1...Memory, 133-1...Processor, 3A-1...Acquisition unit, 3B-1...Control request calculation processing unit, 3C-1...Pre-read processing unit, 13-2...Second control device, 131-2...Communication interface, 132-2...Memory, 133-2...Processor, 3A-2...Acquisition unit, 3B-2...Delay processing unit, 3C-2...Output guard value calculation processing unit, 3D-2...Post-guard control request calculation processing unit, 14...Actuator

Claims

[Claim 1] A look-ahead processing unit estimates the current vehicle state after a predetermined time has elapsed based on the control request of the vehicle's actuator and the current vehicle state, and calculates a guard reference value corresponding to the current vehicle state after the predetermined time has elapsed. A delay processing unit that performs delay processing on the guard reference value calculated by the look-ahead processing unit, An output guard value calculation processing unit calculates a limit value for the actuator's control request based on the post-delayed-processing guard reference value, which is the guard reference value after the delay processing has been performed by the delay processing unit; A vehicle control device comprising a post-guard control request calculation processing unit that calculates a post-guard control request, which is a control request for the actuator that does not exceed the limit value, based on the control request for the actuator and the limit value calculated by the output guard value calculation processing unit. [Claim 2] The vehicle control device according to claim 1, wherein the look-ahead processing unit converts the current vehicle state after a predetermined time has elapsed into reference information and calculates the guard reference value corresponding to the reference information. [Claim 3] The vehicle control device according to claim 1, wherein the delay processing unit performs the delay processing by performing a process to determine the guard reference value when the predetermined time has elapsed. [Claim 4] A vehicle control device performs a look-ahead processing step in which it estimates the current vehicle state after a predetermined time has elapsed based on the control request of the vehicle's actuator and the current vehicle state, and calculates a guard reference value corresponding to the current vehicle state after the predetermined time has elapsed. The vehicle control device includes a delay processing step in which it performs delay processing on the guard reference value calculated in the look-ahead processing step, The vehicle control device includes an output guard value calculation step in which it calculates a limit value for the actuator's control request based on the post-delay processing guard reference value, which is the guard reference value after the delay processing has been performed in the delay processing step, A vehicle control method comprising: a vehicle control device and a post-guard control request calculation process step which calculates a post-guard control request, which is a control request for the actuator that does not exceed the limit value, based on the control request for the actuator and the limit value calculated in the output guard value calculation process step. [Claim 5] In the processor, A vehicle control device performs a look-ahead processing step in which it estimates the current vehicle state after a predetermined time has elapsed based on the control request of the vehicle's actuator and the current vehicle state, and calculates a guard reference value corresponding to the current vehicle state after the predetermined time has elapsed. A delay processing step in which a delay processing is performed on the guard reference value calculated in the lookahead processing step, The output guard value calculation step calculates a limit value for the actuator's control request based on the post-delayed-processing guard reference value, which is the guard reference value after the delay processing has been performed in the delay processing step. A program for executing a post-guard control request calculation process step, which calculates a post-guard control request for the actuator that does not exceed the limit value, based on the control request for the actuator and the limit value calculated in the output guard value calculation process step.

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