{
  "$type": "site.standard.document",
  "description": "A vehicle control apparatus includes an automatic driving control device determining a travel route at a time of executing an automatic driving based on surrounding environment information and position information of a vehicle, and outputting a control amount corresponding to the travel route, and…",
  "path": "/patents/1296854",
  "publishedAt": "2021-08-05T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60W60/0011",
    "Mitsubishi Electric Corporation"
  ],
  "textContent": "A vehicle control apparatus includes an automatic driving control device determining a travel route at a time of executing an automatic driving based on surrounding environment information and position information of a vehicle, and outputting a control amount corresponding to the travel route, and a steering control device calculating a steering control amount based on the control target value. There is a performing of steering control of the vehicle based on the steering control amount, wherein the automatic driving control device dynamically determines a control amount threshold value for regulating a limit of the steering control amount based on automatic driving control information indicating a control state in an automatic driving of the vehicle, and provides the steering control device with the control amount threshold value, and the steering control device changes the steering control amount not to exceed the control amount threshold value.",
  "title": "VEHICLE CONTROL APPARATUS"
}