US 12,103,617 B2
Vehicle control system and vehicle control method for a vehicle of a steer-by-wire type
Kosuke Akatsuka, Mishima (JP); Yoshio Kudo, Machida (JP); Isao Namikawa, Okazaki (JP); Takashi Kodera, Okazaki (JP); Koji Anraku, Okazaki (JP); and Junya Miyake, Okazaki (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP); and JTEKT CORPORATION, Kariya (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP); and JTEKT CORPORATION, Kariya (JP)
Filed on Mar. 31, 2022, as Appl. No. 17/709,558.
Claims priority of application No. 2021-069757 (JP), filed on Apr. 16, 2021.
Prior Publication US 2022/0332367 A1, Oct. 20, 2022
Int. Cl. B62D 6/00 (2006.01); B60Q 9/00 (2006.01)
CPC B62D 6/008 (2013.01) [B60Q 9/00 (2013.01)] 4 Claims
OG exemplary drawing
 
1. A vehicle control system that controls a vehicle of a steer-by-wire type,
the vehicle control system comprising one or more processors configured to execute:
turning control that turns a wheel of the vehicle according to a target turn angle;
reaction force control that applies a steering reaction force to a steering wheel of the vehicle; and
driving assist control that assists driving of the vehicle, wherein
the turning control includes:
calculating a first target turn angle according to a steering operation of the steering wheel by a driver of the vehicle; and
turn angle distribution control that determines the target turn angle by combining the first target turn angle and a second target turn angle required by the driving assist control, when a turn angle distribution condition is satisfied during operation of the driving assist control,
the reaction force control includes deviation compensation control that detects a deviation between the first target turn angle and an actual turn angle and applies a steering reaction force component to the steering wheel in a direction of reducing the deviation,
the one or more processors are further configured to set the steering reaction force component caused by the deviation compensation control to zero in at least a part of a period in which the turn angle distribution condition is satisfied,
the turn angle distribution condition is that a steering parameter reflecting a steering intention of the driver is in a range from a first threshold to a second threshold greater than the first threshold, and
a distribution ratio of the first target turn angle increases while a distribution ratio of the second target turn angle decreases as the steering parameter increases from the first threshold to the second threshold.