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

Claim 2:
3. A vehicle control device, comprising:
calculate a target travel path for causing a host vehicle to travel along a road based on a position of the host vehicle relative to the road;
detect a driver steering intervention at a time of an automatic steering state of following the target travel path;
in response to the driving steering intervention, calculate an offset amount with respect to the target travel path obtained while the driver steering intervention is continuing based on a lateral position deviation from the target travel path at a forward point-of-gaze of the host vehicle obtained while the driver steering intervention is continuing, and calculate a corrected target travel path in which the offset amount is reflected with respect to the target travel path;
after the driver steering intervention is finished, calculate a target steering angle for following the corrected target travel path based on a state of the host vehicle; and
control 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
a final value is selected among a plurality of offset values that are calculated from the driver steering intervention being continued until the driver steering intervention finishes and the host vehicle returns to the automatic steering state, as an offset amount for the corrected target travel path in the automatic steering state.