Patent ID: 9669831
Date: 2017-06-06
CPC Classifications: B60W,G05D

Claim:
1. An automatic driving controlling system comprising: a speed sensor that detects a vehicle speed; a yaw rate sensor that detects a yaw rate of the vehicle; a controller configured: to calculate a target yaw rate that is required to drive the vehicle to a target point and calculates a real-time target yaw rate that is required to drive the vehicle to the target point by comparing a yaw rate that is detected by the yaw rate sensor in real time with the target yaw rate; to calculate a target lateral acceleration that is required to drive the vehicle to the target point by using the vehicle speed and the target yaw rate, and calculates a real-time target lateral acceleration that is required to drive the vehicle to the target point by using the vehicle speed and the real-time target yaw rate; and to determine whether or not the real-time target lateral acceleration is out of a range between an upper limit threshold value and a lower limit threshold value of the target lateral acceleration while an automatic driving mode that automatically controls the driving of the vehicle is in progress, wherein the controller terminates, if the real-time target lateral acceleration is out of the range between the upper limit threshold value and the lower limit threshold value, the automatic driving mode for the automatic driving control of the vehicle so that the driver takes control of the vehicle to drive.