Patent ID: 11926314
Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
Field: Transport (Mechanical engineering)
Classification: CPC B | IPC B

Claim 2:
3. A vehicle control apparatus, comprising:
a driving apparatus which applies a driving force to at least one driven wheel of wheels of a vehicle;
a braking apparatus which applies a braking force to the wheels;
a shift change apparatus which changes a shift position of a transmission of the vehicle to one of positions including a forward moving position, a rearward moving position, and a parking position;
a steering apparatus which controls a steering angle of at least one steered wheel of the wheels;
a control unit which is configured to execute an autonomous driving control of autonomously controlling activations of the driving apparatus, the braking apparatus, the shift change apparatus, and the steering apparatus;
a first electric power source device installed in the vehicle;
a second electric power source device installed in the vehicle; and
an electric power supply circuit which supplies electric power from the first electric power source device to the driving apparatus, the braking apparatus, the shift change apparatus, the steering apparatus, and the control unit when the first electric power source device is in a normal state while the control unit executes the parking assist control, and supplies the electric power from the second electric power source device to at least one of the braking apparatus and the shift change apparatus when a malfunction occurs in the first electric power source device while the control unit executes the parking assist control,
wherein the control unit is configured to move the vehicle with controlling a speed of the vehicle to a predetermined target speed while the control unit executes the parking assist control;
wherein the control unit is configured to execute the parking assist control with maintaining the speed of the vehicle at the speed equal to or slower than a predetermined speed limit value slower than the predetermined target speed when the control unit determines that the predetermined condition that the vehicle moves along a downward slope, is satisfied, based on an index value representing a degree of a gradient of a road along which the vehicle moves when the first electric power source device is in the normal state while the control unit executes the parking assist control;
wherein at least one of the braking apparatus and the shift change apparatus is configured to execute a stopping control of stopping the vehicle when the malfunction occurs in the first electric power source device while the control unit executes the parking assist control;
wherein the braking apparatus executes a braking force control of applying the braking force to the wheels as the stopping control, and the shift change apparatus executes a shift control of changing the shift position to the parking position as the stopping control when the malfunction occurs in the first electric power source device while the control unit executes the parking assist control; and
wherein the shift change apparatus is configured to start to execute the shift control after the braking apparatus starts to execute the braking force control.