Patent ID: 9327764
Filing Date: 2016-05-03
CPC Classification: B62D

Claim Text:
1. A vehicle control apparatus that controls a vehicle provided with a steering force applying device capable of applying steering force to induce a change in a steering angle of a steered wheel to the steered wheel, comprising: a difference detecting device that is configured to detect a positional difference that determines a relative positional relationship between a target running path to be maintained and the vehicle; a determining device that is configured to determine a control amount of the steering force applying device in order to maintain a running path of the vehicle on the target running path, based on the detected positional difference; a controller that is configured to maintain the running path on the target running path by controlling the steering force applying device according to the determined control amount; a steering input detecting device that is configured to detect a steering input to a steering input device by a driver; and a correcting device that is configured to (i) correct a determining reference of the control amount based on the detected steering input by the driver and (ii) prevent interference between the steering input by the driver and a steering force output by the steering force applying device by correcting the determining reference of the control amount independently of the controller maintaining the running path on the target running path, wherein when the steering input by the driver is detected by the steering input detecting device, the steering force applying device maintains the running path of the vehicle on the target running path while the steering input by the driver is input to the steering input device to control a steering direction of the vehicle.