# US 11,993,258 B2 · Vehicle control apparatus > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,993,258 B2 - Document ID: US11993258B2 - Status: Granted - Kind: B2 - Application number: 17/577,581 - Filed: 2022-01-18 - Published: 2022-07-21 - Granted: 2024-05-28 - Earliest claimed: 2021-01-20 - Assignees: Toyota Jidosha Kabushiki Kaisha - Applicants: Toyota Jidosha Kabushiki Kaisha - Inventors: Sho Hashimoto; Nobuaki Fukuchi; Yumi Shimanaka - Web page: https://patentgrep.com/patent/US11993258B2 ## CPC - B60W 30/09: Taking automatic action to avoid collision, e.g. braking and steering - B60W 10/184: with wheel brakes - B60W 10/20: including control of steering systems - B60W 30/0953: {the prediction being responsive to vehicle dynamic parameters} - B60W 2540/103: Accelerator thresholds, e.g. kickdown - B60W 2540/18: Steering angle - B60W 2554/20: Static objects - B60W 2554/4041: Position - B60W 2554/80: Spatial relation or speed relative to objects - B60W 2710/18: Braking system - B60W 2710/182: Brake pressure, e.g. of fluid or between pad and disc - B60W 2710/20: Steering systems - B60W 2710/202: Steering torque - 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 vehicle control apparatus executes a collision avoiding control of avoiding collision of an own vehicle with an object when a predetermined execution condition becomes satisfied. The collision avoiding control includes a steering control of changing a steering angle of the own vehicle and a braking force control of applying braking force to the own vehicle so as to realize a target deceleration. The vehicle control apparatus terminates the steering control and decreases the target deceleration at a first rate to terminate the braking force control when a predetermined steering termination condition that the collision has been avoided, becomes satisfied. The vehicle control apparatus terminates the steering control and decreases the target deceleration at a second rate to terminate the braking force control when a predetermined cancelation condition that a driver carries out a driving maneuver, becomes satisfied. The second rate is greater than the first rate. ## Claims ### Claim 1 A vehicle control apparatus, comprising: at least one sensor which is configured to acquire object information on objects in a surrounding area around an own vehicle; and an electronic control unit which is configured to execute a collision avoiding control of avoiding collision of the own vehicle with the object when the electronic control unit determines, based on the object information, that a predetermined execution condition that the own vehicle is going to collide with the object, becomes satisfied, the collision avoiding control including: a steering control of changing a steering angle of the own vehicle to move the own vehicle along a target route set to avoid collision of the own vehicle with the object; and a braking force control of applying braking force to the own vehicle so as to realize a target deceleration, the electronic control unit is configured to: terminate executing the steering control and decrease the target deceleration at a first rate to terminate execution of the braking force control when a predetermined steering termination condition that the collision of the own vehicle with the object has been avoided by the steering control, becomes satisfied; and terminate executing the steering control and decrease the target deceleration at a second rate to terminate the execution of the braking force control when a predetermined cancelation condition that a driver of the own vehicle carries out a driving maneuver, becomes satisfied, and the second rate is greater than the first rate. ### Claim 2 (depends on 1) The vehicle control apparatus as set forth in claim 1, wherein the electronic control unit is configured to decrease the target deceleration at the second rate to terminate the execution of the braking force control when the predetermined cancelation condition becomes satisfied after the predetermined steering termination condition becomes satisfied. ### Claim 3 (depends on 1) The vehicle control apparatus as set forth in claim 1, wherein the electronic control unit is configured to determine that the predetermined steering termination condition becomes satisfied when (i) the own vehicle has passed by the object, and (ii) the steering angle continues to be smaller than or equal to a predetermined steering angle value for a predetermined duration time threshold or more. ### Claim 4 (depends on 3) The vehicle control apparatus as set forth in claim 3, wherein the electronic control unit is configured to determine that the predetermined cancelation condition becomes satisfied when (i) a first condition that an operation amount of an accelerator pedal of the own vehicle is greater than or equal to a predetermined operation amount threshold, becomes satisfied, or (ii) a second condition that steering torque applied to a steering shaft of the own vehicle by maneuvering a steering wheel of the own vehicle by the driver is greater than or equal to a predetermined torque threshold, becomes satisfied and, wherein the electronic control unit is configured to decrease the target deceleration at the second rate to terminate the execution of the braking force control when the predetermined cancelation condition becomes satisfied after the predetermined steering termination condition becomes satisfied. ### Claim 5 (depends on 1) The vehicle control apparatus as set forth in claim 1, wherein the electronic control unit is configured to determine that the predetermined cancelation condition becomes satisfied when (i) a first condition that an operation amount of an accelerator pedal of the own vehicle is greater than or equal to a predetermined operation amount threshold, becomes satisfied, or (ii) a second condition that steering torque applied to a steering shaft of the own vehicle by maneuvering a steering wheel of the own vehicle by the driver is greater than or equal to a predetermined torque threshold, becomes satisfied.