Patent 9045118 was granted and assigned to Toyota on June, 2015 by the United States Patent and Trademark Office.
A travel control device which controls vehicle travel by feedback control so that the vehicle travels according to a travel plan is characterized by including: a control item determining unit that determines a prioritized control item for every position of a target locus in the travel plan; a control gain determining unit that sets a control gain of the determined prioritized control item to be higher than those of other control items; and a travel plan correction unit that includes the determined control gain in the travel plan.