# US 2019/0315403 A1 · 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 2019/0315403 A1 - Document ID: US20190315403A1 - Status: Published application - Kind: A1 - Application number: 16/285,935 - Filed: 2019-02-26 - Published: 2019-10-17 - Earliest claimed: 2018-04-11 - Assignees: Toyota Jidosha Kabushiki Kaisha - Applicants: Toyota Jidosha Kabushiki Kaisha - Inventors: Ryo Irie; Masaki Shiota - Web page: https://patentgrep.com/patent/US20190315403A1 ## CPC - B62D 15/025: {Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation (B62D1/28 takes precedence)} - B62D 1/286: {Systems for interrupting non-mechanical steering due to driver intervention} - B62D 15/029: {Steering assistants using warnings or proposing actions to the driver without influencing the steering system} - B60W 10/20: including control of steering systems - B62D 5/005: {means for generating torque on steering wheel or input member, e.g. feedback} - B62D 15/021: {Determination of steering angle} - B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M) - 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 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. ## Claims ### Claim 1 A vehicle control system installed on a vehicle and comprising: 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, wherein 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. ### Claim 2 (depends on 1) The vehicle control system according to claim 1, wherein during a period from when the override operation is detected in the stop state to when the vehicle starts moving, the automatic steering control device sets the steering angle command value to the actual steering angle with keeping the automatic steering control activated. ### Claim 3 (depends on 1) The vehicle control system according to claim 1, wherein during a period from when the override operation is detected in the stop state to when the vehicle starts moving, the automatic steering control device temporarily deactivates the automatic steering control. ### Claim 4 (depends on 1) The vehicle control system according to claim 1, further comprising an automatic travel control device configured to control travel of the vehicle, wherein when making the vehicle start automatically, the automatic travel control device determines whether or not an absolute value of a difference between the steering angle command value and the actual steering angle is larger than a first threshold, and when the absolute value is larger than the first threshold, the automatic travel control device executes speed suppression control that suppresses a speed of the vehicle as compared with a case where the absolute value is equal to or smaller than the first threshold. ### Claim 5 (depends on 4) The vehicle control system according to claim 4, wherein the automatic travel control device continues the speed suppression control until the absolute value becomes equal to or smaller than a second threshold being smaller than the first threshold.