{
  "$type": "site.standard.document",
  "description": "A vehicle control apparatus executes a collision avoiding control of avoiding collision of an own vehicle with an object when a predetermined execution condition becomes satisfied. The collision avoiding control includes a steering control of changing a steering angle of the own vehicle and a…",
  "path": "/patents/1408370",
  "publishedAt": "2024-10-09T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60W10/06",
    "TOYOTA MOTOR CO LTD [JP]"
  ],
  "textContent": "A vehicle control apparatus executes a collision avoiding control of avoiding collision of an own vehicle with an object when a predetermined execution condition becomes satisfied. The collision avoiding control includes a steering control of changing a steering angle of the own vehicle and a braking force control of applying braking force to the own vehicle so as to realize a target deceleration. The vehicle control apparatus terminates the steering control and decreases (1107) the target deceleration at a first rate (ΔG1) to terminate the braking force control when a predetermined steering termination condition that the collision has been avoided, becomes satisfied. The vehicle control apparatus terminates the steering control and decreases (1108) the target deceleration at a second rate (ΔG2) to terminate the braking force control when a predetermined cancelation condition that a driver carries out a driving maneuver, becomes satisfied. The second rate (ΔG2) is greater than the first rate (ΔG1).",
  "title": "VEHICLE CONTROL APPARATUS"
}