# US 10,864,909 B2 · Vehicle control method and vehicle control system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,864,909 B2 - Document ID: US10864909B2 - Status: Granted - Kind: B2 - Application number: 16/803,090 - Filed: 2020-02-27 - Published: 2020-06-18 - Granted: 2020-12-15 - Earliest claimed: 2013-07-30 - Assignees: Toyota Jidosha Kabushiki Kaisha - Applicants: Toyota Jidosha Kabushiki Kaisha - Inventors: Naoki Taki; Masaaki Uechi; Yoji Mizoguchi; Hiroshi Harada; Kumiko Kondo - Web page: https://patentgrep.com/patent/US10864909B2 ## CPC - B60W 30/09: Taking automatic action to avoid collision, e.g. braking and steering - B60T 7/22: initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle {, or by means of contactless obstacle detectors mounted on the vehicle} - B60W 10/06: including control of combustion engines - B60W 10/18: including control of braking systems - B60W 10/20: including control of steering systems - B60W 30/08: {Active safety systems} predicting or avoiding probable or impending collision {or attempting to minimise its consequences} - B60T 2201/022: Collision avoidance systems - B60W 2050/143: {Alarm means} - B60W 2540/10: Accelerator pedal position - B60W 2540/103: Accelerator thresholds, e.g. kickdown - B60W 2540/18: Steering angle - B60W 2540/22: Psychological state; Stress level or workload - B60W 2554/00: Input parameters relating to objects - B60W 2710/182: Brake pressure, e.g. of fluid or between pad and disc - 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 - B60T: VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL (electrodynamic brake systems for vehicle, in general B60L; brakes per se, i.e. devices where braking effect occurs, including ultimate brake actuators, F16D); ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES ## Abstract A vehicle control method of performing automatic braking for automatically braking a vehicle or alarm output, depending on a possibility of a collision between the vehicle and an obstacle, includes: cancelling the automatic braking or the alarm output, when an accelerator operation amount is equal to or larger than a predetermined threshold value, during the automatic braking or the alarm output, and cancelling the automatic braking or the alarm output, when a given cancellation condition is satisfied under a situation where the accelerator operation amount of the vehicle is smaller than the predetermined threshold value, during the automatic braking or the alarm output. ## Claims ### Claim 1 A vehicle control method of performing automatic braking for automatically braking a vehicle or alarm output, depending on a possibility of a collision between the vehicle and an obstacle, wherein said automatic braking or said alarm output is cancelled when one of a first cancellation condition and a second cancellation condition is fulfilled during said automatic braking or said alarm output, comprising: cancelling said automatic braking or the alarm output according to a first cancellation condition, wherein the first cancellation condition is fulfilled when an accelerator operation amount is equal to or larger than a predetermined threshold value, during the automatic braking or the alarm output; cancelling said automatic braking or the alarm output according to a second cancellation condition other than the first cancellation condition, wherein the second cancellation condition is fulfilled when a steering operation of a driver is performed under a situation where the accelerator operation amount of the vehicle is smaller than the predetermined threshold value, during the automatic braking or the alarm output; determining that an automatic braking condition is satisfied based on a result of detection from a laser sensor, and cancelling the automatic braking or the alarm output when a temporary reduction of reflection power of the laser sensor is detected. ### Claim 2 (depends on 1) The vehicle control method according to claim 1, wherein the automatic braking is started while it is not determined whether the first cancellation condition or the second cancellation condition is satisfied in a control cycle in which an automatic braking condition is satisfied for a first time, and determining whether the first cancellation condition or the second cancellation condition is satisfied is performed after the automatic braking is started. ### Claim 3 (depends on 1) The vehicle control method according to claim 1, wherein a period of determination of the second cancellation condition is shorter than a period of determination of the first cancellation condition. ### Claim 4 (depends on 1) The vehicle control method according to claim 1, wherein when the first cancellation condition or the second cancellation condition is satisfied, a target control value of an automatic braking request is reduced at a given rate lower than a given rate used when an automatic braking termination condition is satisfied. ### Claim 5 A vehicle control system comprising: a sensor that detects a condition of an obstacle around a vehicle; an accelerator pedal position sensor that detects an operation amount of an accelerator pedal; and an ECU configured to: output a signal that requests automatic braking for automatically braking the vehicle or generation of an alarm, based on said condition of the obstacle, stop output of the signal according to a first cancellation condition, wherein the first cancellation condition is fulfilled when the operation amount of the accelerator pedal is equal to or larger than a first threshold value, or stop the output of the signal according to a second cancellation condition other than the first cancellation condition, wherein the second cancellation condition is fulfilled when a steering operation of a driver is performed under a situation where the accelerator operation amount of the vehicle is smaller than the first threshold value, determine that an automatic braking condition is satisfied based on a result of detection from a laser sensor, and cancel the automatic braking or the alarm output when a temporary reduction of reflection power of the laser sensor is detected. ### Claim 6 (depends on 5) The vehicle control system according to claim 5, wherein the ECU is configured to: start the automatic braking while it is not determined whether the first cancellation condition or the second cancellation condition is satisfied in a control cycle in which an automatic braking condition is satisfied for a first time, and determine whether the first cancellation condition or the second cancellation condition is satisfied is performed after the automatic braking is started. ### Claim 7 (depends on 5) The vehicle control system according to claim 5, wherein a period of determination of the second cancellation condition is shorter than a period of determination of the first cancellation condition. ### Claim 8 (depends on 5) The vehicle control system according to claim 5, wherein when the first cancellation condition or the second cancellation condition is satisfied, a target control value of an automatic braking request is reduced at a given rate lower than a given rate used when an automatic braking termination condition is satisfied.