US 12,459,502 B2
Vehicle control device
Hirofumi Mori, Hadano (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on Aug. 3, 2023, as Appl. No. 18/364,668.
Claims priority of application No. 2022-161440 (JP), filed on Oct. 6, 2022.
Prior Publication US 2024/0116499 A1, Apr. 11, 2024
Int. Cl. B60W 30/09 (2012.01)
CPC B60W 30/09 (2013.01) [B60W 2554/20 (2020.02); B60W 2554/402 (2020.02); B60W 2554/802 (2020.02); B60W 2720/12 (2013.01)] 6 Claims
OG exemplary drawing
 
1. A vehicle control device that executes autopilot control of a vehicle for securing a lateral distance between the vehicle and an object present within a predetermined distance from a driving lane and in front of the vehicle outside the driving lane of the vehicle, the vehicle control device comprising a processor configured to:
receive a detected result of a front sensor mounted on the vehicle;
determine a type of the object based on the detected result;
determine a target lateral speed pattern based on the determined type of the object;
recognize a distance between the object and the vehicle in a front-rear direction of the vehicle based on the detected result of the front sensor;
set a target lateral speed based on the determined target lateral speed pattern and the recognized distance; and
perform the autopilot control of the vehicle such that the vehicle travels at the set target lateral speed wherein:
the target lateral speed pattern increases as the distance decreases; and
the target lateral speed pattern is different for each type of object.