US 11,939,015 B2
Vehicle control device and vehicle control method
Yu Takeuchi, Tokyo (JP); Shuuhei Nakatsuji, Tokyo (JP); Fumiaki Kadoya, Tokyo (JP); Kazuo Hitosugi, Tokyo (JP); Yuki Yoshida, Tokyo (JP); and Kazushi Maeda, Tokyo (JP)
Assigned to Mitsubishi Electric Corporation, Tokyo (JP)
Appl. No. 17/298,256
Filed by Mitsubishi Electric Corporation, Tokyo (JP)
PCT Filed Mar. 25, 2019, PCT No. PCT/JP2019/012340
§ 371(c)(1), (2) Date May 28, 2021,
PCT Pub. No. WO2020/161928, PCT Pub. Date Aug. 13, 2020.
Claims priority of application No. 2019-019315 (JP), filed on Feb. 6, 2019.
Prior Publication US 2022/0111891 A1, Apr. 14, 2022
Int. Cl. B62D 6/08 (2006.01); B62D 15/02 (2006.01)
CPC B62D 6/08 (2013.01) [B62D 15/025 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A vehicle control device, comprising at least one processor configured to:
calculate a target travel path for causing a host vehicle to travel along a road based on a position of the host vehicle relative to the road;
detect a driver steering intervention at a time of an automatic steering state of following the target travel path;
in response to the driver steering intervention, calculate an offset amount with respect to the target travel path based on a lateral position deviation from the target travel path at a forward point-of-gaze of the host vehicle obtained while the driver steering intervention is continuing, and calculate a corrected target travel path in which the offset amount is reflected with respect to the target travel path;
after the driver steering intervention is finished, calculate a target steering angle for following the corrected target travel path based on a state of the host vehicle; and
control a steering angle of the host vehicle to enable the host vehicle to follow the corrected target travel path during the driver steering intervention, and control the steering angle of the host vehicle based on the target steering angle in the automatic steering state.