The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Nov. 16, 2021
Filed:
May. 20, 2019
Subaru Corporation, Tokyo, JP;
SUBARU CORPORATION, Tokyo, JP;
Abstract
A vehicle control apparatus includes an automatic steering control device. The automatic steering control device includes an override determiner, a target steering angle setter, and a target torque setter. The target steering angle setter sets a target steering angle in automatic steering control, based on surrounding information and running condition information. The target torque setter sets a target torque for making the vehicle turn so that a steering angle of the vehicle becomes the target steering angle set by the target steering angle setter. If a steering intention has been detected by the override determiner, during the steering intention being detected, the target steering angle setter sets the steering angle a predetermined length of time before, as the target steering angle.