{
  "$type": "site.standard.document",
  "description": "The vehicle driving assistance apparatus determines whether an own vehicle departs from an own vehicle moving lane while executing a steering avoidance control. When determining that the own vehicle departs from the own vehicle moving lane while executing the steering avoidance control, the vehicle…",
  "path": "/patents/1348098",
  "publishedAt": "2023-07-27T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60W30/09",
    "TOYOTA JIDOSHA KABUSHIKI KAISHA"
  ],
  "textContent": "The vehicle driving assistance apparatus determines whether an own vehicle departs from an own vehicle moving lane while executing a steering avoidance control. When determining that the own vehicle departs from the own vehicle moving lane while executing the steering avoidance control, the vehicle driving assistance apparatus acquires a steering angle determined by a steering angle control pattern, changes the acquired steering angle to be a value to move the own vehicle toward a center of the own vehicle moving lane, sets the changed steering angle as a target steering angle, acquires a deceleration determined by a deceleration control pattern, increases the acquired deceleration, and sets the increased deceleration as a target deceleration.",
  "title": "VEHICLE DRIVING ASSISTANCE APPARATUS, VEHICLE DRIVING ASSISTANCE METHOD, AND COMPUTER-READABLE STORAGE MEDIUM STORING VEHICLE DRIVING ASSISTANCE PROGRAM"
}