US 11,926,325 B2
Vehicle control apparatus
Yosuke Takebayashi, Tokyo (JP); and Takeshi Yoneda, Tokyo (JP)
Assigned to SUBARU CORPORATION, Tokyo (JP)
Filed by SUBARU CORPORATION, Tokyo (JP)
Filed on Sep. 15, 2021, as Appl. No. 17/476,127.
Claims priority of application No. 2020-159716 (JP), filed on Sep. 24, 2020; and application No. 2021-073946 (JP), filed on Apr. 26, 2021.
Prior Publication US 2022/0089161 A1, Mar. 24, 2022
Int. Cl. B60W 30/18 (2012.01)
CPC B60W 30/18145 (2013.01) [B60W 2510/20 (2013.01); B60W 2520/10 (2013.01); B60W 2520/12 (2013.01); B60W 2552/30 (2020.02); B60W 2710/18 (2013.01); B60W 2720/106 (2013.01); B60W 2720/125 (2013.01)] 5 Claims
OG exemplary drawing
 
1. A vehicle control apparatus to be applied to a vehicle comprising:
one or more processors configured to:
set, before the vehicle passes through an inflection point of a curvature of a target trajectory, a first reference point on the target trajectory at a position before the inflection point, and set a target steering angle on a basis of a curvature of an arc passing through a first position of the vehicle and the first reference point, wherein the first position is a position of the vehicle detected before the vehicle passes through the inflection point;
set, after the vehicle passes through the inflection point, a second reference point on the target trajectory at a position so that a second distance from a second position of the vehicle, wherein the second position is a position of the vehicle detected after the vehicle passes through the inflection point to the second reference point is longer than a first distance from the first position of the vehicle to the first reference point when compared under identical travel conditions, the identical travel conditions being identical to each other in at least one of a vehicle speed, an acceleration rate, a deceleration rate, or a steering angle, and set the target steering angle on a basis of a curvature of an arc passing through the second position of the vehicle and the second reference point;
control the steering angle on a basis of the target steering angle; and
one or more memories communicably coupled to the one or more processors.