# US 11,305,759 B2 · Vehicle control apparatus

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- Number: US 11,305,759 B2
- Document ID: US11305759B2
- Status: Granted
- Kind: B2
- Application number: 16/659,828
- Filed: 2019-10-22
- Published: 2020-04-23
- Granted: 2022-04-19
- Earliest claimed: 2018-10-23
- Assignees: Toyota Jidosha Kabushiki Kaisha
- Applicants: Toyota Jidosha Kabushiki Kaisha
- Inventors: Wataru Sasagawa; Kazuyuki Fujita; Minami Sato; Miyuki Kamatani; Takahisa Awata
- Web page: https://patentgrep.com/patent/US11305759B2

## 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 30/0956: {the prediction being responsive to traffic or environmental parameters}
- B60W 40/109: Lateral acceleration
- B60W 40/114: Yaw movement
- G08G 1/166: {for active traffic, e.g. moving vehicles, pedestrians, bikes}
- B60W 2554/00: Input parameters relating to objects
- B60W 2554/802: Longitudinal distance
- 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
- G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93})

## Abstract

A vehicle control apparatus is provided with: a distance acquirer configured to obtain a distance between a first avoidance target and a second avoidance target in a longitudinal direction of a host vehicle when the first avoidance target is on one of left and right sides of the host vehicle and when the second avoidance target is on a far side of the first avoidance target and on another side of the host vehicle; and a controller configured or programmed to reduce a displacement amount in a lateral direction of the host vehicle, of a displacement in a direction of the host vehicle going away from the first avoidance target, which is to avoid the first avoidance target by the avoidance control, when the obtained distance is less than a predetermined distance, in comparison with when the obtained distance is greater than the predetermined distance.

## Claims

### Claim 1

A vehicle control apparatus configured to perform an avoidance control when there are avoidance targets to be avoided on a course of a host vehicle, said vehicle control apparatus configured to:
obtain a distance between a first avoidance target and a second avoidance target, each of which is an avoidance target, in a longitudinal direction of the host vehicle when the first avoidance target is on the course and on one of a left side and a right side of the host vehicle and when the second avoidance target is on an opposing side of the first avoidance target on the course and on another of the left side and the right side of the host vehicle; and
reduce a displacement amount in a lateral direction of the host vehicle when the host vehicle moves away from the first avoidance target in order to avoid the first avoidance target by the avoidance control, when the obtained distance is less than a predetermined distance, in comparison with when the obtained distance is greater than the predetermined distance.

### Claim 2 (depends on 1)

The vehicle control apparatus according to claim 1, wherein after the host vehicle avoids the first avoidance target as a part of the avoidance control by being steered in the direction of the host vehicle going away from the first avoidance target, when the host vehicle is steered in a direction of the host vehicle going away from the second avoidance target for avoiding the second avoidance target as another part of the avoidance control, said vehicle control apparatus is configured in such a manner that a steering amount associated with steering performed in the direction of the host vehicle going away from the second avoidance target is reduced in comparison with a steering amount associated with steering performed in the direction of the host vehicle going away from the first avoidance target, on condition that a time from when the host vehicle passes the first avoidance target to when the another part of the avoidance control is started is less than a predetermined time.