US 12,128,912 B2
Vehicle control device
Hisanori Yanagida, Tokyo (JP); and Takuro Shimizu, Tokyo (JP)
Assigned to HONDA MOTOR CO., LTD., Tokyo (JP)
Filed by HONDA MOTOR CO., LTD., Tokyo (JP)
Filed on Sep. 19, 2022, as Appl. No. 17/947,413.
Claims priority of application No. 2021-162004 (JP), filed on Sep. 30, 2021.
Prior Publication US 2023/0097944 A1, Mar. 30, 2023
Int. Cl. B60W 50/038 (2012.01); B60W 30/14 (2006.01); B60W 50/02 (2012.01)
CPC B60W 50/038 (2013.01) [B60W 30/146 (2013.01); B60W 50/0205 (2013.01)] 2 Claims
OG exemplary drawing
 
1. A vehicle control device configured to be mounted on a vehicle provided with a steering system including an operating member configured to be operated by a driver, a steering member mechanically separated from the operating member and configured to steer a road wheel, and a steering actuator powered by electric power supplied from an onboard power source and configured to actuate the steering member according to an input from the operating member, wherein
the control device is configured to perform a speed limit control to limit a traveling speed of the vehicle below an upper limit speed upon detecting a fault in the steering system, and
the speed limit control is configured to set a target deceleration of the vehicle according to the limited traveling speed, perform a feedback control to bring an actual deceleration of the vehicle to become near the target deceleration,
the feedback control includes an integral term calculated by integrating the difference between the target deceleration and the actual deceleration, and when the deceleration of the vehicle due to a driver's braking operation becomes greater than the target deceleration, the integral term is set to the target deceleration.