US 12,330,726 B2
Vehicle control device
Kota Kimura, Anjo (JP); Takahiro Adachi, Chiryu (JP); and Yu Sakai, Nagakute (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on Dec. 15, 2022, as Appl. No. 18/082,347.
Claims priority of application No. 2022-039303 (JP), filed on Mar. 14, 2022.
Prior Publication US 2023/0286577 A1, Sep. 14, 2023
Int. Cl. B62D 6/00 (2006.01); B60W 10/20 (2006.01); B60W 30/12 (2020.01); B60W 30/18 (2012.01)
CPC B62D 6/008 (2013.01) [B60W 10/20 (2013.01); B60W 30/12 (2013.01); B60W 30/18163 (2013.01); B60W 2540/20 (2013.01); B60W 2554/4045 (2020.02)] 6 Claims
OG exemplary drawing
 
1. A vehicle control device comprising a reaction force generator that gives a steering reaction force to a steering operation performed by a driver on a host vehicle, and a controller that executes steering reaction force control of controlling a value of the steering reaction force,
the controller being configured such that, during execution of the steering reaction force control, when a lane change of the host vehicle is not made, the controller gives a reaction force of a standard value to the steering operation as the steering reaction force, and when a lane change of the host vehicle is made, the controller sets the steering reaction force given to the steering operation in a direction of the lane change of the host vehicle to a reaction force of a smaller value than the reaction force of the standard value, wherein
the controller is configured such that, during execution of the steering reaction force control, when a vehicle approach condition that another vehicle traveling in a lane on a side to which a lane of the host vehicle is to be changed is approaching the host vehicle from behind is met at a time when a lane change of the host vehicle is made, the controller does not set the steering reaction force given to the steering operation in the direction of the lane change of the host vehicle to a reaction force of a value smaller than the standard value, and
the controller is configured such that, during execution of the steering reaction force control, when the vehicle approach condition is met after a lane change of the host vehicle is started and the host vehicle starts to enter an adjacent lane and before entry of the host vehicle into the adjacent lane is completed, the controller sets the steering reaction force given to the steering operation in the direction of the lane change of the host vehicle to a reaction force of a value smaller than the standard value, and also sets the steering reaction force given to a steering operation in the opposite direction from the direction of the lane change of the host vehicle to a reaction force of a value smaller than the standard value.