Vehicle control system
AssigneeToyota Jidosha Kabushiki Kaisha
InventorsRyo Irie, Masaki Shiota
Life of this patent
Estimating the term…
Abstract
A vehicle control system installed on a vehicle includes: an automatic steering control device configured to execute automatic steering control that determines a steering angle command value and controls steering of the vehicle such that an actual steering angle follows the steering angle command value; a stop state detection device configured to detect a stop state where the vehicle is stopped; and an override detection device configured to detect an override operation by a driver of the vehicle. When the override operation is detected in the stop state, the automatic steering control device prohibits variation in the actual steering angle due to the automatic steering control, until the vehicle starts moving.
Claims5
A vehicle control system installed on a vehicle and comprising:
- an electronic control unit (ECU) including a processor programmed to:
- execute automatic steering control that determines a steering angle command value and controls steering of the vehicle such that an actual steering angle of at least one vehicle wheel follows the steering angle command value;
- detect a stop state where the vehicle is stopped;
- and
- detect an override operation by a driver of the vehicle, wherein
- the override operation is a steering wheel operation performed by the driver which changes the actual steering angle to a value different from a target path steering angle determined during execution of the automatic steering control,
- the ECU is further programmed to:
- when the override operation is detected in the stop state, prohibit variation, by the automatic steering control, in the actual steering angle changed by the override operation, until the vehicle starts moving;
- during a period from when the override operation is detected in the stop state to when the vehicle starts moving, set the steering angle command value to the actual steering angle changed by the override operation while keeping the automatic steering control activated;
- and
- when the vehicle starts moving, set the steering angle command value to the target path steering angle.
A vehicle control method for controlling a vehicle using an electronic control unit, comprising:
- executing automatic steering control that determines a steering angle command value and controls steering of the vehicle such that an actual steering angle of at least one vehicle wheel follows the steering angle command value;
- detecting a stop state where the vehicle is stopped;
- and
- detecting an override operation by a driver of the vehicle, wherein
- the override operation is a steering wheel operation performed by the driver which changes the actual steering angle to a value different from a target path steering angle determined during execution of the automatic steering control,
- when the override operation is detected in the stop state, prohibiting variation, by the automatic steering control, in the actual steering angle changed by the override operation, until the vehicle starts moving;
- during a period from when the override operation is detected in the stop state to when the vehicle starts moving, setting the steering angle command value to the actual steering angle changed by the override operation while keeping the automatic steering control activated;
- and
- when the vehicle starts moving, setting the steering angle command value to the target path steering angle.
Dependencies are inferred from the claim text.