Title:
VEHICLE CONTROL APPARATUS
Document Type and Number:
WIPO Patent Application WO/2020/008515
Kind Code:
A1
Abstract:
The present invention relates to a vehicle control apparatus, provided with an automatic driving control device for determining a travel route for travel during execution of automatic driving on the basis of position information and surrounding-environment information of a vehicle and outputting a controlled variable corresponding to the travel route, and a steering control device for computing a steering controlled variable on the basis of a control target value and controlling steering of the vehicle on the basis of the steering controlled variable, the automatic driving control device dynamically determining a controlled-variable threshold for prescribing a limit of the steering controlled variable on the basis of automatic driving control information representing a state of control in automatic driving of the vehicle and presenting the controlled value threshold to the steering control device, and the steering control device changing the steering controlled variable so as not to exceed the controlled-variable threshold when the steering controlled variable exceeds the controlled-variable threshold.
Inventors:
KAWAKAMI DAISUKE (JP)
Application Number:
PCT/JP2018/025151
Publication Date:
January 09, 2020
Filing Date:
July 03, 2018
Export Citation:
Assignee:
MITSUBISHI ELECTRIC CORP (JP)
International Classes:
B62D6/00
Domestic Patent References:
| WO2017077807A1 | 2017-05-11 |
Foreign References:
| JP2016124337A | 2016-07-11 | |||
| JP2018012390A | 2018-01-25 | |||
| JP2018012473A | 2018-01-25 | |||
| JP2018039419A | 2018-03-15 |
Attorney, Agent or Firm:
YOSHITAKE Hidetoshi et al. (JP)
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