{
  "$type": "site.standard.document",
  "coverImage": {
    "$type": "blob",
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  "description": "A vehicle control apparatus (100) includes a departure margin time computation unit (13) configured to compute a departure margin time until the vehicle departs from the running lane within a previously set steering control range and vehicle speed control range, a hand-release duration time…",
  "path": "/patents/936798",
  "publishedAt": "2016-10-05T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60Q9/00",
    "TOYOTA MOTOR CO LTD [JP]"
  ],
  "textContent": "A vehicle control apparatus (100) includes a departure margin time computation unit (13) configured to compute a departure margin time until the vehicle departs from the running lane within a previously set steering control range and vehicle speed control range, a hand-release duration time measurement unit (14) configured to measure a hand-release duration time, a driving return time estimation unit (16) configured to estimate a driving return time until the driver in the hand-release state returns to driving operation, based on the hand-release duration time, and a control unit (17) configured to output an alarm to the driver when a difference resulting from subtracting the driving return time from the departure margin time is less than or equal to a first threshold.",
  "title": "VEHICLE CONTROL APPARATUS"
}