US 12,377,842 B2
Vehicle control device and vehicle control system
Yusuke Noma, Hitachinaka (JP); Shunsuke Katoh, Hitachinaka (JP); and Hidehiro Toyoda, Hitachinaka (JP)
Assigned to HITACHI ASTEMO, LTD., Hitachinaka (JP)
Appl. No. 18/003,219
Filed by HITACHI ASTEMO, LTD., Hitachinaka (JP)
PCT Filed Feb. 12, 2021, PCT No. PCT/JP2021/005156
§ 371(c)(1), (2) Date Dec. 23, 2022,
PCT Pub. No. WO2022/004042, PCT Pub. Date Jan. 6, 2022.
Claims priority of application No. 2020-111916 (JP), filed on Jun. 29, 2020.
Prior Publication US 2023/0242107 A1, Aug. 3, 2023
Int. Cl. B60W 30/095 (2012.01); B60W 30/09 (2012.01); B60W 60/00 (2020.01)
CPC B60W 30/0956 (2013.01) [B60W 30/09 (2013.01); B60W 60/001 (2020.02); B60W 2554/40 (2020.02)] 8 Claims
OG exemplary drawing
 
1. A vehicle control device comprising one or more processors to:
detect a blind spot region of an external-field recognition sensor that recognizes an external field and estimate a blind spot object potential in the blind spot region;
generate a future trajectory of a host vehicle in consideration of a potential risk from the blind spot object estimate and surrounding information of the host vehicle;
calculate a curvature radius at which the host vehicle travels from the future trajectory and a past trajectory of the host vehicle, and calculate a target steering angle of the host vehicle from the calculated curvature radius and an acceleration or deceleration of the host vehicle performed in response to generating the potential risk;
calculate a rotation direction of the host vehicle based on coordinate points of the future trajectory in consideration of the potential risk; and
control the host vehicle in accordance with the target steering angle and the rotation direction.