# US 10,479,355 B2 · Driving control system for vehicle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,479,355 B2 - Document ID: US10479355B2 - Status: Granted - Kind: B2 - Application number: 15/648,708 - Filed: 2017-07-13 - Published: 2018-02-01 - Granted: 2019-11-19 - Earliest claimed: 2016-07-27 - Assignees: Toyota Jidosha Kabushiki Kaisha - Applicants: Toyota Jidosha Kabushiki Kaisha - Inventors: Tomoyuki Kozuka - Web page: https://patentgrep.com/patent/US10479355B2 ## CPC - B60W 30/09: Taking automatic action to avoid collision, e.g. braking and steering - B60W 10/18: including control of braking systems - B60W 10/20: including control of steering systems - B60W 40/08: related to drivers or passengers - B60W 2040/0818: {Inactivity or incapacity of driver} - B60W 2510/182: Brake pressure, e.g. of fluid or between pad and disc - B60W 2510/20: Steering systems - B60W 2510/202: Steering torque - B60W 2520/14: Yaw - B60W 2540/18: Steering angle - B60W 2540/26: Incapacity - B60W 2710/182: Brake pressure, e.g. of fluid or between pad and disc - B60W 2710/202: Steering torque - B60W 2710/207: Steering angle of wheels - B60W 2720/106: Longitudinal acceleration - B60W 2720/14: Yaw - B60W 2720/406: between left and right wheel - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT ## Abstract A driving control system for a vehicle is provided. The vehicle includes a steering device, a steering operation amount sensor that detects a steering operation amount of the driver, and an abnormality determining device configured to determine whether the driver is in an abnormal state. The driving control system includes: an actuator configured to adjust a turning state quantity; and an electronic control unit configured to calculate a target turning state quantity of the vehicle based on the steering operation amount and control the turning state quantity adjusting device. The electronic control unit is configured to correct the target turning state quantity such that a magnitude of the target turning state quantity does not exceed a predetermined allowable range and to control the actuator based on the corrected target turning state quantity when the driver is in the abnormal state. ## Claims ### Claim 1 A driving control system for a vehicle, the vehicle including a steering device configured to change a turning angle of turning wheels based on a steering operation of a driver, a steering operation amount sensor configured to detect a steering operation amount of the driver, and an abnormality determining device configured to determine whether the driver is in an abnormal state, the driving control system comprising: an actuator configured to adjust a turning state quantity of the vehicle without depending on a driving operation of the driver; and an electronic control unit configured to control the actuator, wherein the electronic control unit is configured to: calculate a target turning state quantity of the vehicle based on the steering operation amount; and when a magnitude of the target turning state quantity exceeds a predetermined allowable range, calculate a corrected target turning state quantity equal to one of (i) an upper limit of the predetermined allowable range and (ii) a lower limit of the predetermined allowable range, and control the actuator based on the corrected target turning state quantity when the abnormality determining device determines that the driver is in the abnormal state. ### Claim 2 (depends on 1) The driving control system for the vehicle according to claim 1, wherein the electronic control unit is configured to decelerate the vehicle when the abnormality determining device determines that the driver is in the abnormal state. ### Claim 3 (depends on 1) The driving control system for the vehicle according to claim 1, wherein the electronic control unit is configured to calculate the corrected target turning state quantity such that a magnitude of a change rate of the corrected target turning state quantity does not exceed a predetermined allowable change rate when it is determined that the driver is in the abnormal state. ### Claim 4 (depends on 3) The driving control system for the vehicle according to claim 3, wherein the electronic control unit is configured to decrease a magnitude of the predetermined allowable change rate as a magnitude of a reference turning state quantity increases, the reference turning state quantity being defined as the target turning state quantity at a time when a determination result of a state of the driver by the abnormality determining device changes from normal to abnormal. ### Claim 5 (depends on 1) The driving control system for the vehicle according to claim 1, wherein the electronic control unit is configured to set the predetermined allowable range as a range between a sum of a reference turning state quantity and an allowable additional amount for upper-limit calculation and a sum of the reference turning state quantity and an allowable additional amount for lower-limit calculation when the reference turning state quantity is defined as the target turning state quantity at a time when a determination result of a state of the driver by the abnormality determining device changes from normal to abnormal. ### Claim 6 (depends on 5) The driving control system for the vehicle according to claim 5, wherein the electronic control unit is configured to decrease a magnitude of at least one of the allowable additional amount for upper-limit calculation and the allowable additional amount for lower-limit calculation as a magnitude of the reference turning state quantity increases. ### Claim 7 (depends on 1) The driving control system for the vehicle according to claim 1, wherein the actuator is configured to adjust a yaw moment applied to the vehicle by controlling a difference in braking force between right and left wheels. ### Claim 8 (depends on 1) The driving control system for the vehicle according to claim 1, wherein the actuator is configured to adjust a yaw moment applied to the vehicle by changing a turning angle of the turning wheels using the steering device. ### Claim 9 (depends on 8) The driving control system for the vehicle according to claim 8, wherein the steering device is a steer-by-wire steering device.