US 12,358,557 B2
Vehicle control device, vehicle control method, and storage medium storing vehicle control program
Jiro Miyawaki, Ebina (JP); and Kinya Ishizuka, Toyota (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on Jan. 26, 2024, as Appl. No. 18/424,423.
Claims priority of application No. 2023-067058 (JP), filed on Apr. 17, 2023.
Prior Publication US 2024/0343304 A1, Oct. 17, 2024
Int. Cl. B62D 15/00 (2006.01); B62D 15/02 (2006.01)
CPC B62D 15/025 (2013.01) 5 Claims
OG exemplary drawing
 
1. A vehicle control device comprising:
a sensor that acquires information about a host vehicle and information about a target existing around the host vehicle;
a steering device including a steering mechanism that couples a steering wheel and steered wheels of the host vehicle and an electric motor that drives the steering mechanism; and
a processor that executes lane tracing control for controlling the electric motor such that the host vehicle travels along a travel lane in which the host vehicle is traveling, the processor being configured to execute steering override control for controlling the electric motor according to a mode of an operation to rotate the steering wheel when the steering wheel is operated to rotate during execution of the lane tracing control, wherein
the processor is configured to:
control the electric motor such that torque for operating the steering wheel when a driver performs an operation to rotate the steering wheel matches a predetermined first target value in a predetermined first traveling scene in which the lane tracing control is being executed; and
control the electric motor such that the torque for operating the steering wheel when the driver performs an operation to rotate the steering wheel matches a second target value that is less than the first target value in a predetermined second traveling scene in which the lane tracing control is being executed, the second traveling scene being predefined as a traveling scene in which the steering wheel is operated to rotate less frequently than the first traveling scene.