Subaru Corporation

Fuji Jukogyo Kabushiki Kaisha

Harunobu Horiguchi

Koji Matsuno

Hajime Oyama

Masato Mizoguchi

Takayuki Nagase

Yasushi Takaso

Shiro Ezoe

Satoru Akiyama

Eiichi Shiraishi

Ryoichi Mizutani

Yohei Kawashima

Osamu Takahashi

Yuki Sugimoto

Makoto Nakauchi

Akihisa Osada

Yuta Ishizuka

Masaki Sunagawa

Makoto Sonoki

Satoru Kuwahara

Hideo Yagata

A driver assistance apparatus for a vehicle includes a determiner, an estimator, a detector, and a deceleration rate setter. The determiner determines whether the vehicle is slipping in vehicle speed control involving acceleration or deceleration of the vehicle. The estimator estimates a road surface frictional coefficient at a location where the vehicle starts slipping as a first road surface frictional coefficient. The detector detects a high frictional coefficient area that has a second road surface frictional coefficient higher than the first road surface frictional coefficient and is located in front of the vehicle. The deceleration rate setter sets, in the vehicle speed control involving the deceleration, a target deceleration rate to be used when the vehicle travels in the high frictional coefficient area to a higher value than the target deceleration rate set for the first road surface frictional coefficient.

Driver assistance apparatus for vehicle

A vehicle traveling control apparatus is configured to be applied to a vehicle and includes a traveling environment data acquiring unit and a traveling controller. The traveling controller includes a preceding vehicle recognizing unit, a curve curvature detecting unit, and a vehicle speed keep controlling unit. The preceding vehicle recognizing unit is configured to recognize a preceding vehicle, based on traveling environment data acquired by the traveling environment data acquiring unit. The curve curvature detecting unit is configured to detect a curvature of a curved road, based on the traveling environment data or road map data. The vehicle speed keep controlling unit is configured such that, in a case where the preceding vehicle recognizing unit loses track of the preceding vehicle, the vehicle speed keep controlling unit cause the vehicle to travel on the basis of a preceding-vehicle-following vehicle speed that is before losing track of the preceding vehicle.

Vehicle traveling control apparatus

A vehicle driving assistance apparatus includes a traveling environment recognizer and an adaptive cruise controller. The traveling environment recognizer recognizes traveling environment information regarding an outside of a vehicle. Based on the traveling environment information, the adaptive cruise controller performs a follow-up traveling control of causing the vehicle to travel to follow a preceding vehicle, if recognized, and performs a constant-speed traveling control of causing the vehicle to travel at constant speed. If the vehicle starts a lane change to a traveling lane during traveling based on the follow-up traveling control, the adaptive cruise controller keeps a target vehicle speed at a start of the lane change at least until the lane change ends, and thereafter accelerates the vehicle, by setting a set vehicle speed as a new target vehicle speed, and setting a target acceleration rate based on the new target vehicle speed.

Vehicle driving assistance apparatus

A behavior control apparatus for a vehicle includes a vehicle speed detector, a curvature setting unit, a steering angle detector, a yaw rate detector, a deceleration rate detection unit, a target yaw rate setting unit, a vehicle behavior determination unit, and a vehicle behavior controller. The vehicle behavior controller includes a grip restored vehicle speed estimation unit, an estimated yaw rate setting unit, a grip restored target yaw rate setting unit, and a steering control unit. The steering control unit makes a steering control including allowing a yaw rate of the vehicle to settle at a grip restored target yaw rate at which tire grip is restored, on the basis of a difference between an estimated yaw rate and the grip restored target yaw rate.

Behavior control apparatus for vehicle

A drive assist apparatus for a vehicle includes a turn signal drive unit, an environment information obtainer, and a controller. The controller includes a blinking cycle adjuster configured to cause the turn signal drive unit to drive with drive signals indicating blinking cycles different from each other. The blinking cycles include a first blinking cycle and a second blinking cycle shorter than the first blinking cycle. The blinking cycle adjuster is configured to set the first blinking cycle for the vehicle that travels at a first position, and set the second blinking cycle for the vehicle that travels at a second position closer to the intersection than the first position.

Drive assist apparatus for vehicle

A driving support apparatus includes a drive source, a brake detector, a vehicle velocity detector, a wheel velocity detector, and a driving force controller. The drive source is configured to give driving force to each of drive wheels capable of being independently driven. The brake detector is configured to detect depression of a brake pedal. The vehicle velocity detector is configured to detect vehicle velocity of a vehicle. The wheel velocity detector is configured to detect wheel velocity of each of the drive wheels. The driving force controller is configured to control the driving force for each of the drive wheels.

Driving support apparatus

A vehicle control apparatus includes a steering device, a steering controller, a steering input member, a front-rear driving force distribution unit, and a behavior controller. The steering device steers front wheels of a vehicle. The steering controller controls and causes the steering device to perform steering automatically. The steering input member receives a steering operation inputted by a driver. The front-rear driving force distribution unit changes a front-rear driving force distribution ratio. The behavior controller predicts, if a steering operation is performed via the steering input member during the automatic steering, a behavior of the vehicle to be exhibited after steering corresponding to the steering operation, and causes, if an oversteer behavior is predicted to occur, the front-rear driving force distribution unit to change the driving force distribution ratio to a front-wheel biased distribution ratio as compared with a case where the oversteer behavior is not predicted to occur.

Controlling driving force distribution ratio in response to prediction of oversteer

A braking control device includes a target vehicle speed setting unit, a braking power control unit, and a low friction coefficient region recognition unit. The low friction coefficient region recognition unit recognizes a low friction coefficient region of a road surface between a current position of an own vehicle and a target position. The braking power control unit estimates a maximum deceleration rate assuming braking to be started after passage through the low friction coefficient region to cause deceleration to a target vehicle speed at the target position. On the condition that the maximum deceleration rate is smaller than a predetermined upper limit on a deceleration rate, the braking power control unit causes a start of generation of braking power after the passage through the low friction coefficient region.

Braking control device

A vehicle control device to be installed in a vehicle includes a self-driving controller and a calculator. The self-driving controller is configured to set a target vehicle speed and a target steering angle to allow the vehicle to trace a predetermined target travel locus. The self-driving controller is configured to control the vehicle based on the target vehicle speed and the target steering angle. The calculator is configured to calculate a deviation between an index of an actual vehicle behavior and an index of a reference vehicle behavior. The self-driving controller corrects one or both of the target vehicle speed and the target steering angle in accordance with an increase of the deviation, so as to stabilize the vehicle.

Vehicle control device

A vehicle brake control apparatus includes a vibration detector configured to detect a predetermined vibration state in a frictional brake device, a power regeneration execution determination unit configured to determine, in a case where the predetermined vibration state is detected by the vibration detector, whether to permit execution of power regeneration by a power generating device or to limit the execution, a pressing force controller configured to change, in a case where the execution of the power regeneration is limited by the power regeneration execution determination unit, a pressing force of a friction material in the frictional brake device, and a driving force cooperative controller configured to adjust a driving force of a vehicle to suppress fluctuation in forward acceleration or backward acceleration of the vehicle associated with a change in the pressing force by the pressing force controller.

Vehicle brake control apparatus

A travel control apparatus for a vehicle includes a travel environment information acquisition unit, a travel information detection unit, and a control unit. The acquisition unit acquires travel environment information of the vehicle, which is on a traveling environment of the vehicle. The detection unit detects travel information of the vehicle. The control unit performs self-driving control, on the basis the information. The control unit detects a relative distance between an oncoming vehicle and the vehicle, and performs turn control to cause the vehicle to make a turn while crossing ahead of the oncoming vehicle, in a case where the relative distance is not smaller than a preset threshold value. When the vehicle makes the turn, in a case where a traction control for preventing tire slippage by decreasing a drive torque is operated, the control unit increasingly corrects the preset threshold value in accordance with at least a tire grip state.

Travel control apparatus for vehicle

A travel control apparatus for a vehicle detects a vehicle to be passed that is a target of passing and is in front of the vehicle equipped with the apparatus in the traveling lane thereof, detects a parallel traveling vehicle that is traveling in a lane that is adjacent to a lane to which the vehicle performs lane changing to pass the vehicle to be passed and is located on the opposite side of the lane which the vehicle to be passed is traveling, monitors the vehicle to be passed and the parallel traveling vehicle, and variably controls a passing maneuver with respect to the vehicle to be passed on the basis of a monitoring result.

A control unit of an assist controller for a vehicle estimates the visibility of a driver, calculates a visibility degradation ratio as a temporal change amount of the visibility, compares the visibility degradation ratio with a warning threshold that has been set in advance according to a vehicle speed, determines whether to warn the driver with a warning device, compares the visibility degradation ratio with a control characteristic change threshold that has been set in advance according to a vehicle speed, determines changes in control characteristics of the ABS function, skid preventing control function, and brake assist control function, compares the visibility degradation ratio with a deceleration control actuation threshold that has been set in advance according to a vehicle speed, and determines whether to execute automatic braking.

Driving assist controller for vehicle

A vehicle automatic driving control apparatus executes an automatic traveling control by performing setting on preset automatic-driving-required drive torque as target torque, and includes a traction-control-required drive torque setting unit that sets, when a preset operating condition of a traction control is satisfied, traction-control-required drive torque as the target torque to decrease drive torque and thereby suppress a drive wheel slip, an automatic-driving-required drive torque decreasing unit that gradually decreases, based on a preset amount, the automatic-driving-required drive torque when the traction control is operated, a torque comparing unit that compares the traction-control-required drive torque with the decreased automatic-driving-required drive torque, and an automatic-driving-required drive torque setting unit that completes the traction control and performs the setting again on the decreased automatic-driving-required drive torque as the automatic-driving-required drive torque for the automatic driving control, when the traction-control-required drive torque is determined as exceeding the decreased automatic-driving-required drive torque.

Vehicle automatic driving control apparatus

A travel control apparatus for a vehicle detects a vehicle to be passed that is an target of passing and is located in front of a vehicle equipped with the travel control apparatus in a traveling lane thereof on the basis of peripheral environment information and travel information, detects a following vehicle that is behind the vehicle in the traveling lane thereof as a following vehicle in the original lane on the basis of the peripheral environment information, monitors the vehicle to be passed and the following vehicle in the original lane, and variably controls a passing maneuver with respect to the vehicle to be passed on the basis of a monitoring result.

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Tokyo, Japan

Harunobu Horiguchi