Patent ID: 11958528
Assignee: SUBARU CORPORATION
Field: Transport (Mechanical engineering)
Classification: CPC B | IPC B

Claim 0:
1. A vehicle control apparatus comprising:
one or more processors
the one or more processors being configured to:
set a target steering angle every predetermined cycle, and
control a steering angle of a vehicle on a basis of the target steering angle,

wherein the target steering angle is set by, in each cycle of the predetermined cycle:
acquiring a target path of the vehicle to be traveling and a current position of the vehicle,
setting a plurality of target points on the target path,
obtaining an arc passing through the current position of the vehicle and tangent to a traveling direction of the vehicle based on the plurality of target points, and
setting the target steering angle based on a curvature radius of the arc,
a first target steering angle is set based on a first curvature radius of a first arc in a first cycle, and a second target steering angle is set based on a second curvature radius of a second arc in a second cycle subsequent to the first cycle, and
the second target steering angle is set in the second cycle before the vehicle reaches a position corresponding to the farthest target point, out of the plurality of target points used for setting the first target steering angle in the first cycle.