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Vehicle control device

  • US 10,137,932 B2
  • Filed: 09/28/2017
  • Issued: 11/27/2018
  • Est. Priority Date: 10/05/2016
  • Status: Active Grant
First Claim
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1. A vehicle control device which is configured to be capable of implementing automatic driving or providing an automatic driving assist, comprising:

  • an external environment state detecting unit adapted to detect a state of external environment of a vehicle;

    a lane information acquisition unit adapted to acquire lane information that is capable of specifying shape of a lane in which the vehicle intends to travel, on basis of a detection result by the external environment state detecting unit;

    a state detecting unit adapted to detect a low speed traveling state in which speed of the vehicle is less than or equal to a predetermined value;

    a target steering angle generating unit adapted to generate a target steering angle for the vehicle from a relationship between lane information acquired from the lane information acquisition unit and an attitude of the vehicle, during a period in which the low speed traveling state is being detected; and

    a steering angle control unit adapted to control a steering angle of the vehicle so as to agree with the target steering angle generated by the target steering angle generating unit.

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