Patent ID: 9187092
Filing Date: 2015-11-17
Classification: B60W,B62D

Abstract:
1. A control apparatus for a vehicle which includes a controller configured to control the vehicle, the vehicle comprising a steering apparatus, the controller being configured to: set a first target controlled variable regarding the steering apparatus for track control which makes a track of the vehicle follow a target track; perform the track control by controlling the steering apparatus on the basis of the set first target controlled variable; and determine whether or not the steering input is overriding on the basis of magnitude and frequency of a steering input when the track control is performed; the controller being configured to pass a first low frequency band component of the steering input associated with the overriding, and attenuate or cut off a first middle-high frequency band component other than the first low frequency band component; the controller being configured to perform a first dead zone process on a first filter output which is an output of the first filter, wherein the first dead zone process regards a range in which absolute value of the first filter output is less than or equal to a first reference value as a dead zone; the controller being configured to set a second target controlled variable regarding the steering apparatus corresponding to the steering input on the basis of a first dead zone output which is an output of the first dead zone process; the control apparatus including a second filter which is attenuate or cut off a second low frequency band component of the set first target controlled variable associated with the overriding, and pass a second middle-high frequency band component other than the second low frequency band component, if it is determined that the steering input is the overriding; and the controller being configured to perform a second dead zone process on a second filter output which is an output of the second filter, wherein the second dead zone process regards a range in which absolute value of the second filter output is less than or equal to a second reference value as a dead zone, wherein the controller is configured to determine that the steering input is the overriding if magnitude of the first filter output is greater than or equal to a predetermined value, and the controller is configured to control the steering apparatus on the basis of a second dead zone output which is an output of the second dead zone process and the set second target controlled variable.