Honda Giken Kogyo Kabushiki Kaisha

Honda Motor Co., Ltd.

Honda Giken Kogyo K.k.

Hironobu Kiryu

Shuji Shiraishi

Takashi Nishihara

Masahiko Asakura

Osamu Yamamoto

Ryoji Mori

Naoki Omomo

Hitoshi Konishi

Makoto Sato

Yoshihiro Oniwa

Mahito Shikama

Tooru Ikeda

Akira Kato

Kunimichi Hatano

Katsuya Yashiro

Eitetsu Akiyama

Toshio Yahagi

Yoshio Wazaki

Kazuya Sakurai

Takuyuki Mukai

Tetsuya Oono

Mineyuki Yoshida

Yukihisa Ishii

Toru Ikeda

Chihiro Abe

Tomoaki Sugano

Susumu Ohta

Kazunari Okada

Nobuyuki Narisawa

Masakazu Shiraishi

Nobuyuki Imaizumi

Fumiaki Honjyo

Satoru Otsuka

Yoshihiro Iwagama

Naoki Ohmomo

A vehicle control device includes a recognizer that is configured to recognize a surrounding situation of a host vehicle and a driving controller that is configured to control acceleration or deceleration and steering of the host vehicle on the basis of a recognition result of the recognizer. The driving controller is configured to cause the host vehicle to operate in at least any of a first driving state and a second driving state in which a rate of automation is higher or tasks required of an occupant are fewer than in the first driving state, and is configured to transition a driving state of the host vehicle to the first driving state on the basis of movement of a rearward vehicle that travels rearward of the host vehicle recognized by the recognizer in a direction of a vehicle width in a case where the host vehicle is operating in the second driving state.

Vehicle control device, vehicle control method, and storage medium

A vehicle control device according to an embodiment includes a recognition unit configured to recognize a surrounding situation of a subject vehicle, a reception unit configured to receive an input of a set vehicle speed set by an occupant of the subject vehicle, and a driving control unit configured to control one or both of steering and acceleration or deceleration of the subject vehicle on the basis of the surrounding situation recognized by the recognition unit and the set vehicle speed received by the reception unit. In a case in which a plurality of traveling lanes on which the subject vehicle is able to travel in a progress direction of the subject vehicle are recognized by the recognition unit, the driving control unit determines a lane on which the subject vehicle travels among the plurality of traveling lanes on the basis of the set vehicle speed.

A vehicle control system including: a surrounding state detector is configured to detect a state of the surroundings, a first running assistor is configured to automatically control at least acceleration/deceleration or steering such that the subject vehicle can run along a route to a destination; a monitor is configured to monitor whether or not the first running assistor is in a predetermined state and limit an operation of the first running assistor in a case in which the first running assistor is in the predetermined state; and a second running assistor is configured to assist a occupant's driving on the basis of the result of the detection executed and perform steering control according to a relation between the subject vehicle and a lane in a case in which the first running assistor is determined as being in the predetermined state.

Vehicle control system, vehicle control method, and vehicle control program

A vehicle control device includes a recognizer and a driving controller. The driving controller operates at least in one of a first control state and a second control state in which a automation rate is higher than the first control state or a lower level of task is required of an occupant than the first control state. The driving controller does not suppress operation in the second control state if a traffic sign recognized by the recognizer is a sign indicating a speed limit equal to or higher than a predetermined speed and suppresses operation in the second control state if the traffic sign is a sign indicating a speed limit less than the predetermined speed.

A vehicle control device includes a travel control unit configured to control travel of a vehicle on the basis of an action plan including a plurality of events that are sequentially executed to control acceleration and deceleration or steering when the vehicle travels; an abnormality detection unit configured to detect a specific abnormal state that affects a control result of the travel control unit based on the action plan; and a changing unit configured to change content controlled by the travel control unit on the basis of either or both of a type of an event being executed according to control by the travel control unit and a type of an event scheduled to be executed following the event being executed among events included in the action plan when the specific abnormal state is detected by the abnormality detection unit.

Vehicle control device, vehicle control method, and vehicle control program

Provided is an automatic driving control device advantageous for a vehicle or the like in which a route can be changed during movement to a destination. An automatic driving control device, wherein a navigation device is provided with a route generation unit for generating a second route which is difference from a first route on the basis of predetermined conditions, and a determination unit for determining whether to change from the first route to the second route when an automatic driving permissible interval included in the second route is different from the automatic driving permissible interval included in the first route. When the route has been determined by the determination unit to be changeable from the first route to the second route, a control unit executes an automatic driving mode in the automatic driving permissible interval included in the second route.

Automatic driving control device

When an occurrence of override due to an acceleration/deceleration operation and/or a steering operation is detected by an acceleration/deceleration override detection unit and/or a steering override detection unit, a driving mode is switched by a mode switching unit to a semi-automatic driving mode in which the degree of automatic control is higher than when an occurrence of override due to the acceleration/deceleration operation and the steering operation is detected. According to this configuration, the degree of automatic control can be appropriately regulated in accordance with an override state, so a vehicular behavior not intended by the driver can be prevented. In addition, because the partial automatic control is maintained, the burden of driving can be reduced.

Provided is a vehicle travel control device which simultaneously achieves the behavioral stability of a vehicle and the continuity of travel assistance during vehicle travel assistance. The setting range of controlled variable to an actuator in travel assistance control is limited on the basis of the information having higher priority among road type information and road shape information. Thus, compared to when the setting range of the control variable is determined on the basis of only the road type information or the road shape information, it is possible to suppress excessive limitations on the applicable range/duration time of travel assistance.

Vehicle travel control device

A vehicle control device includes a detecting unit that detects a towing state of a subject vehicle, a recognizing unit that recognizes surrounding situations of the subject vehicle, a control unit that performs automatic control in which at least one of acceleration-and-deceleration and steering of the subject vehicle is automatically controlled on the basis of the surrounding situations of the subject vehicle recognized by the recognizing unit, and a changing unit that changes, if the detecting unit has detected that the subject vehicle is in a state of towing an object, details of control performed by the control unit in such a manner that it is less likely to perform the automatic control than in the case where the detecting unit has not detected that the subject vehicle is in a state of towing an object.

The present disclosure provides a vehicle controller which includes an identification unit that identifies an operation state of a traffic signal existing on a route up to a destination; a setting unit that sets an automated drive mode section on the route based on the operation state of the traffic signal identified by the identification unit, the automated drive mode section being a section where an automated drive mode of controlling acceleration, deceleration, or steering is permitted during travelling of a vehicle; and a travel control unit that controls the travelling of the vehicle in the automated drive mode in the automated drive mode section set by the setting unit.

Vehicle controller, vehicle control method, and vehicle control program

A turning motion control system for a vehicle includes an actuator, and an actuator control device for controlling the actuator so that an actual turning motion state of the vehicle becomes close to a target turning motion state. The actuator control device is designed so that its control-permitted state and its control-stopped state can be switched from one to another through a switching device operated by a driver. When an air-pressure decreased state detecting device has detected an air-pressure decreased state, the actuator control device carries out the control of the operation of the actuator, irrespective of a switching mode of the switching device. Thus, even if an air-pressure decrease or an abnormality is generated in any of wheels in a state in which the turning motion control by the actuator has been stopped, the stability of the vehicle can be ensured.

Turning motion control system for vehicle

When a steady straight advancing state presuming device presumes that the vehicle is in a steady straight advancing state, and a slip rate calculating device calculates a small slip rate, based on an output from a driving-state detecting device, or when the steady straight advancing state presuming device presumes that the vehicle is in the steady straight advancing state, and a driven wheel torque calculating device calculates a small driven wheel torque, based on the output from the driving-state detecting device, a correction execution determining device determines that the vehicle is in a stable state suitable for correcting the wheel speed. By a command from the correction execution determining device, a correcting device corrects the driven wheel speed or the follower wheel speed based on a speed ratio of the driven wheel speed to the follower wheel speed calculated by a speed ratio calculating device. Thus, when a different-diameter tire has been mounted on a wheel, it is possible to precisely correct the wheel speed without being influenced by the slipping of the driven wheels or by the turning of the vehicle.

Wheel speed correcting system

A technique to indicate a different-diameter wheel such as a temporary tire and to accurately correct the wheel speed of the different-diameter wheel is determined. Wheel speeds of a pair of left and right driven wheels are detected by wheel speed sensors and wheel speeds of a pair of left and right follower wheels are detected by wheel speed sensors. Yaw rates are calculated from the wheel speeds of the left and right wheels, and yaw rates are calculated from the wheel speeds of the wheels located diagonally. Which wheel of the four wheels is a different-diameter wheel is determined based on the magnitudes of the four yaw rates and the wheel speed of the different-diameter wheel is corrected based on a ratio in wheel speed between the different-diameter wheel and the other wheels.

Correcting the wheel speed of a wheel having a different diameter than

A system is provided to prevent suspension judder from being generated at the start of a vehicle which includes a traction control system. If the starting of the vehicle is detected based on driving-wheel speeds RL and RR, a shift position and an accelerator opening degree .theta.th1, an initial torque TQ2 and a delay time are map-searched based on the accelerator opening degree .theta.th1 and a steering angle .theta.st. The driving force for driven wheels is limited to the initial torque TQ2, until a delay time from the starting of the vehicle has elapsed, to prevent the generation of suspension judder. When the delay time has elapsed, an accelerating increment torque TQ3 is map-searched based on the accelerator opening degree .theta.th1 and the steering angle .theta.st, and is added to the initial torque TQ2, thereby ensuring the accelerating performance of the vehicle.

Driving force control system in vehicle

A traction control system for a vehicle includes a calculator for calculating a speed of a driven wheel of the vehicle, a calculator for calculating a vehicle speed and a calculator for calculating a slip rate of the driven wheel on the basis of the driven wheel speed and the vehicle speed, such that the feed-back control of a throttle valve is carried out to reduce the output torque from an engine to inhibit the excessive slipping of the driven wheel, when the slip rate exceeds a predetermined threshold value. The system further includes a calculator for calculating a total grip force of the vehicle, a calculator for calculating an initial engine required torque at the start of the feed-back control of the throttle valve on the basis of the total grip force, and a calculator for calculating an initial throttle opening degree of the throttle valve on the basis of the initial engine required torque. Thus, the excessive slipping of the driven wheels can be reduced without an abrupt change exerted to the behavior of the vehicle by setting an appropriate initial throttle opening degree.

Growing community of inventors

Wako, Japan

Hironobu Kiryu