US 11,654,955 B2
Vehicle and control apparatus of vehicle
Takuma Kobayashi, Wako (JP); and Yoshifumi Nakamura, Wako (JP)
Assigned to HONDA MOTOR CO., LTD., Tokyo (JP)
Filed by HONDA MOTOR CO., LTD., Tokyo (JP)
Filed on Jan. 11, 2021, as Appl. No. 17/145,628.
Claims priority of application No. JP2020-005393 (JP), filed on Jan. 16, 2020.
Prior Publication US 2021/0221425 A1, Jul. 22, 2021
Int. Cl. B62D 1/28 (2006.01); B60W 40/06 (2012.01); B60W 40/08 (2012.01)
CPC B62D 1/286 (2013.01) [B60W 40/06 (2013.01); B60W 40/08 (2013.01); B62D 1/283 (2013.01); B60W 2540/223 (2020.02); B60W 2540/225 (2020.02); B60W 2552/20 (2020.02)] 9 Claims
OG exemplary drawing
 
1. A control apparatus of a vehicle including a steering operator, the control apparatus comprising:
an environment detection unit configured to detect a surrounding environment of the vehicle;
a travel control unit configured to execute automatic steering control based on the surrounding environment; and
an operation detection unit configured to detect a first operation of turning the steering operator by a driver and a second operation of gripping the steering operator by the driver;
wherein the travel control unit can take
a first state in which automatic steering control is not performed,
a second state in which automatic steering control is performed on condition of the second operation, and
a third state in which automatic steering control is performed without condition of the second operation, and
in a case where it is determined that the third state should be transitioned to the first state, the travel control unit:
determines whether the driver is performing the second operation;
in a case where it is determined that the driver is performing the second operation, transitions from the third state to the first state on condition that the driver performs the first operation; and
in a case where it is determined that the driver is not performing the second operation, transitions from the third state to the first state on condition that the driver performs the second operation.