Patent ID: 11939015
Assignee: MITSUBISHI ELECTRIC CORPORATION
Field: Transport (Mechanical engineering)
Classification: CPC B | IPC B

Claim 9:
10. A vehicle control method, comprising:
a first step of detecting relative positions of a host vehicle and a road;
a second step of calculating a target travel path for causing the host vehicle to travel along the road;
a third step of detecting a driver steering intervention at a time of an automatic steering state of following the target travel path;
a fourth step of calculating an offset amount with respect to the target travel path obtained while the driver steering intervention is continuing based on the driver steering intervention, and calculating a corrected target travel path in which the offset amount is reflected;
a fifth step of, after the driver steering intervention is finished, calculating a target steering angle for following the corrected target travel path based on a state of the host vehicle; and
a sixth step of controlling a steering angle of the host vehicle to enable the host vehicle to follow the corrected target travel path during the driver steering intervention, and control the steering angle of the host vehicle based on the target steering angle in the automatic steering state,, wherein
the fourth step adopts a final value among the offset values calculated from the driver steering intervention being continued until the driver steering intervention finishes and there is a return to the automatic steering state as an offset amount for the corrected target travel path in the automatic steering state.