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:
Dec. 19, 2023
Filed:
Jul. 02, 2021
Toyota Jidosha Kabushiki Kaisha, Toyota, JP;
Continental Automotive Corporation, Yokohama, JP;
Daiki Yasui, Atsugi, JP;
Sho Hashimoto, Shizuoka-ken, JP;
Akshay Rajendra, Frankfurt, DE;
Michael Patzelt, Frankfurt, DE;
TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota, JP;
CONTINENTAL AUTONOMOUS MOBILITY GERMANY GMBH, Ingolstadt, DE;
Abstract
A vehicle control apparatus determines that a control start condition is satisfied when there is an object in an area of a route which the own vehicle moves and executes a steering control of steering the own vehicle to increase a yaw angle of the own vehicle with respect to a moving lane of the own vehicle and decrease the yaw angle to avoid a collision of the own vehicle with the object when determining that control start condition is satisfied. The vehicle control apparatus determines that a control termination condition is satisfied when the yaw angle becomes equal to or smaller than a predetermined yaw angle, and a steering angle of the own vehicle becomes equal to or smaller than a predetermined steering angle after starting steering the own vehicle to decrease the yaw angle in executing the steering control.