{
  "$type": "site.standard.document",
  "description": "A vehicle control device includes a vehicle position calculating unit, an obstacle determining unit, a collision possibility determining unit, an avoidance means selecting unit, an avoidance route calculating unit, and a steering control value calculating unit that calculates a steering control…",
  "path": "/patents/1345474",
  "publishedAt": "2023-06-15T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60W30/0956",
    "Hitachi Astemo, Ltd."
  ],
  "textContent": "A vehicle control device includes a vehicle position calculating unit, an obstacle determining unit, a collision possibility determining unit, an avoidance means selecting unit, an avoidance route calculating unit, and a steering control value calculating unit that calculates a steering control value and that outputs the steering control value to a steering actuator control unit. The avoidance route calculating unit calculates a target point for avoiding the obstacle, divides an avoidance section connecting the position of the vehicle to the target point into a plurality of partial sections, calculates a partial avoidance route in each of the partial sections, and calculates the avoidance route made up of the plurality of partial avoidance routes.",
  "title": "VEHICLE CONTROL DEVICE AND OBSTACLE AVOIDANCE CONTROL METHOD"
}