Patent ID: 11912360
Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
Field: Transport (Mechanical engineering)
Classification: CPC B | IPC B

Claim 8:
9. A vehicle control system configured to control a vehicle including a front wheel and a rear wheel, the vehicle control system comprising one or more processors configured to execute:
front wheel steering operation control for turning the front wheel without turning the rear wheel in response to a steering instruction from a driving entity;
rear wheel steering operation control for turning the rear wheel without turning the front wheel in response to the steering instruction from the driving entity;
front-and-rear wheels steering operation control for turning both the front wheel and the rear wheel in response to the steering instruction from the driving entity; and
a specified control execution process for executing one of control specified by the driving entity among a plurality of control including at least the front wheel steering operation control, the rear wheel steering operation control, and the front-and-rear wheels steering operation control, wherein
a target steered angle of the front wheel and a target steered angle of the rear wheel depend on a vehicle speed of the vehicle,
a first vehicle speed range is a range in which the vehicle speed is lower than a threshold,
a second vehicle speed range is a range in which the vehicle speed is equal to or higher than the threshold, and
the specified control execution process includes
setting the target steered angles such that the target steered angles decrease along with an increase in the vehicle speed over the first vehicle speed range and the second vehicle speed range, when the driving entity specifies in-phase as a phase relationship between the front wheel and the rear wheel, the in-phase being a phase relationship which a turning direction of the front wheel is identical to a turning direction of the rear wheel and
setting the target steered angles such that the target steered angles decrease along with the increase in the vehicle speed in the first vehicle speed range and reach zero in the second vehicle speed range, when the driving entity specifies counter phase as the phase relationship between the front wheel and the rear wheel, the counter phase being a phase relationship which the turning direction of the front wheel is opposite to the turning direction of the rear wheel.