{
  "$type": "site.standard.document",
  "description": "A vehicle control apparatus including a surrounding circumstances detector detecting surrounding circumstances of a self-driving vehicle and an electric control unit including a microprocessor configured to perform generating an action plan of the self-driving vehicle based on the surrounding…",
  "path": "/patents/1233190",
  "publishedAt": "2019-05-09T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60W30/162",
    "Honda Motor Co., Ltd."
  ],
  "textContent": "A vehicle control apparatus including a surrounding circumstances detector detecting surrounding circumstances of a self-driving vehicle and an electric control unit including a microprocessor configured to perform generating an action plan of the self-driving vehicle based on the surrounding circumstances and controlling the engine and the transmission so that the self-driving vehicle travels by self-driving in accordance with the action plan. The generating includes generating a first action plan and a second action plan, the first action plan including target position data of the self-driving vehicle, the second action plan including an acceleration instruction to a target vehicle speed not including the target position data, and the controlling includes controlling the engine and the transmission, so that the self-driving vehicle accelerates to the target vehicle speed at a target torque minimizing a fuel consumption quantity per unit travel distance when the second action plan is generated.",
  "title": "VEHICLE CONTROL APPARATUS"
}