US 12,172,721 B2
Vehicle control system and vehicle control method
Kosuke Akatsuka, Mishima (JP); Yoshio Kudo, Machida (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 May 3, 2022, as Appl. No. 17/735,195.
Claims priority of application No. 2021-106869 (JP), filed on Jun. 28, 2021.
Prior Publication US 2022/0410968 A1, Dec. 29, 2022
Int. Cl. A61M 37/00 (2006.01); A61B 5/00 (2006.01); B62D 5/04 (2006.01); B62D 6/00 (2006.01); B62D 15/02 (2006.01); C12N 15/115 (2010.01); G01N 33/543 (2006.01)
CPC B62D 6/008 (2013.01) [B62D 5/0481 (2013.01); B62D 15/0215 (2013.01)] 6 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:
driving assist control that automatically controls turning of the vehicle independently of a driving operation by a driver of the vehicle; and
conjunction reaction force control that applies a steering reaction force component to a steering wheel in conjunction with the turning of the vehicle caused by the driving assist control, wherein
the conjunction reaction force control includes:
acquiring a driver turn angle that is a target turn angle corresponding to a steering angle of the steering wheel;
acquiring a first system turn angle that is a target turn angle required by the driving assist control;
an adjustment process that acquires a second system turn angle by adjusting the first system turn angle according to a steering intention of a driver of the vehicle; and
applying a steering reaction force component to the steering wheel in a direction of reducing a difference between the driver turn angle and the second system turn angle,
the adjustment process in the conjunction reaction force control acquires the second system turn angle by adjusting the first system turn angle such that the difference between the second system turn angle and the driver turn angle becomes smaller than a difference between the first system turn angle and the driver turn angle,
the driving assist control turns the vehicle based not on the second system turn angle but on the first system turn angle
the adjustment process includes:
a gain setting process that sets a conjunction reaction force gain according to the steering intention of the driver;
calculating the second system turn angle by multiplying the first system turn angle by the conjunction reaction force gain, and
the gain setting process sets the conjunction reaction force gain such that the difference between the second system turn angle and the driver turn angle becomes smaller than the difference between the first system turn angle and the driver turn angle,
the gain setting process sets the conjunction reaction force gain based on the difference between the driver turn angle and the first system turn angle,
when the driver turn angle is larger than the first system turn angle, the conjunction reaction force gain is set to a value larger than 1, and
when the first system turn angle is larger than the driver turn angle, the conjunction reaction force gain is set to a value smaller than 1.