US 12,479,468 B2
Vehicle control apparatus
Takahiro Yokota, Susono (JP); Atsushi Kodama, Shizuoka (JP); Hiroki Fukuda, Shizuoka (JP); Taichi Kawanai, Susono (JP); Daichi Hotta, Tokyo (JP); and Nobuhide Kamata, Susono (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on Nov. 10, 2023, as Appl. No. 18/506,832.
Claims priority of application No. 2022-182460 (JP), filed on Nov. 15, 2022.
Prior Publication US 2024/0157967 A1, May 16, 2024
Int. Cl. B60W 60/00 (2020.01); B60W 10/18 (2012.01); B60W 30/02 (2012.01)
CPC B60W 60/001 (2020.02) [B60W 10/18 (2013.01); B60W 30/02 (2013.01); B60W 2552/10 (2020.02); B60W 2552/15 (2020.02); B60W 2556/40 (2020.02); B60W 2710/18 (2013.01); B60W 2720/10 (2013.01)] 7 Claims
OG exemplary drawing
 
1. A vehicle control apparatus for performing autonomous driving of a host vehicle, the vehicle control apparatus comprising:
at least one electronic control unit, which includes a processor and a memory that stores a program to be executed by the processor, configured to:
acquire operating section information which is information of an operating section in which vehicle stability control by brake control is operated in a vehicle during autonomous driving in the past; and
generate an operation plan of autonomous driving of the host vehicle based on a preset target route, map information, and the operating section information;
perform the autonomous driving according to the operation plan; and
wherein the at least one electronic control unit is configured to:
generate the operation plan so that the host vehicle does not stop in the operating section on the target route,
generate the operation plan in which the host vehicle passes through the operating section without acceleration or deceleration in the operating section due to acceleration until the host vehicle enters the operating section when the operating section is an uphill slope, and
generate the operation plan in which the host vehicle passes through the operating section without acceleration or deceleration in the operating section when the operating section is a downhill slope.
 
7. A vehicle control apparatus according for performing autonomous driving of a host vehicle, the vehicle control apparatus comprising:
at least one electronic control unit, which includes a processor and a memory that stores a program to be executed by the processor, configured to:
acquire operating section information which is information of an operating section in which vehicle stability control by brake control is operated in a vehicle during autonomous driving in the past; and
generate an operation plan of autonomous driving of the host vehicle based on a preset target route, map information, and the operating section information; and
perform the autonomous driving according to the operation plan,
wherein the at least one electronic control unit is further configured to stop the host vehicle at a position offset to the left or right in a travelling lane with respect to a center of the travelling lane when the host vehicle is stopped within the operating section based on an external environment detected by an external sensor of the host vehicle during autonomous driving.