Mazda Motor Corporation

Nsk Corporation

Mazda Motor Company

Hiroshi Ohmura

Takashi Nakashima

Shin Takehara

Ryuya Akita

Hirotaka Kanazawa

Shigefumi Hirabayashi

Takeshi Murai

Kiyoshi Sakamoto

Koji Hosoda

Kouji Hosoda

Takeshi Edahiro

Haruki Okazaki

Takashi Nakagami

Tetsuya Tachihata

Hideaki Kikuchi

Masao Ushio

Hiroyuki Ito

Hiroshi Eda

Fumio Kageyama

Isamu Chikuma

Tomoji Izumi

Nagahisa Fujita

Masanobu Fukushima

Takashi Goto

Takuji Oka

Kouichi Kojima

Yoshinori Otsubo

Xi Chen

Shusaku Ombe

Sahori Iimura

Rie Awane

Tomoko Nagata

Shigerumi Hirabayashi

Kenichi Ikeda

Sei Kobayashi

Yasunori Yamamoto

Takao Kijima

Isao Hirashima

Takashi Hamada

Masao Hideshima

Mineharu Shibata

Masatoshi Takayama

Tsuyoshi Arinaga

Takayuki Seto

Masanobu Kosaka

Futoshi Shoji

Akihiro Furuzawa

Kazuki Sato

Seiji Miyamoto

Atsuo Tomoda

Seiji Matsumoto

Yuta Tsuji

Kazunori Isomoto

Yoshiyuki Yamashita

Takashi Terano

Yuma Nishijo

Hideyuki Okada

Hiroki Yoshioka

Junji Yoshioka

Atuo Tomoda

Shota Katayama

Nobuhiro Totoki

Hiroyuki Noda

Shoji Harada

Kenta Tada

Rie Tezuka

Ryusuke Nomiyama

Yasuhiro Kawahara

Akihiro Motodani

Takao Kljima

Futoshi Shouji

Kazuhiro Hayashi

Hiroko Shiraishi

Hirokata Kanazawa

Satoru Tanabe

Sei Kobayshi

A controller detects partitioning lines OL and BL of a road and a road edge E based on an image taken by a camera, generates a pair of left and right virtual lines ILand ILthat extend from the side to the front of a vehicle along the partitioning lines OL and BL, controls the steering so the vehicle travels between the left and right virtual lines ILand IL, moves the left virtual line ILto a position in proximity to the road edge E and fixes the left virtual line ILto this position, and then, moves the right virtual line ILto a position separated from the left virtual line ILby the width of the vehicle and fixes the right virtual line ILto this position, and controls brakes to stop the vehicle after fixing the left and right virtual lines ILand IL.

Vehicle control system stabilizing behavior of a vehicle moving to a road edge to be stopped

A vehicle control apparatus is configured to execute processing to calculate a correction travel route and a control target value on the basis of a target travel route under a specified constraint condition. The vehicle control apparatus calculates the correction travel route by using an evaluation function in a manner to minimize a difference of the correction travel route from the target travel route. The evaluation function is a sum that is acquired by weighting the evaluation value at each prediction point by weight coefficients. A time interval between each adjacent pair of the prediction points is set to be increased from a near side toward a far side from the vehicle. The weight coefficients are set such that weight at the prediction point on the far side from the vehicle is less than the weight at the prediction point on the near side of the vehicle.

Vehicle control apparatus

A vehicle control device includes: a target traveling path setting unit that sets a target traveling path of an own vehicle; a reference position setting unit that sets a reference position of the own vehicle for specifying a position of the own vehicle with respect to the target traveling path; and a control unit that controls a steering assist amount of a steering wheel, based on a positional deviation being a deviation between the target traveling path set by the target traveling path setting unit and the reference position of the own vehicle set by the reference position setting unit. The reference position setting unit changes the reference position according to a vehicle speed.

Vehicle control device

A vehicle control device includes an oncoming vehicle detection sensor configured to detect an oncoming vehicle that approaches an own vehicle, and a controller configured to automatically apply brakes to the own vehicle to avoid a collision with the oncoming vehicle detected by the oncoming vehicle detection sensor under a condition that the own vehicle is at least partially in an opposite lane or a planned path of the own vehicle is at least partially in the opposite lane. The controller is configured to set, between the own vehicle and the oncoming vehicle, a virtual area that moves with the oncoming vehicle and that extends in an advancing direction of the oncoming vehicle, and automatically brake the own vehicle to avoid coming into contact with the virtual area to avoid the collision between the own vehicle and the oncoming vehicle.

Vehicle control device, method and computer program product

A control unit functionally comprises a first steering-torque application control part which commands a steering actuator of a vehicle to execute application of a steering torque determined by a first steering characteristic CHand a second steering-torque application control part which commands the steering actuator of the vehicle to execute application of a steering torque determined by a second steering characteristic CH. The first steering characteristic CHcomprises plural characteristics CHA-CHJ which have different steering torques changing according to a vehicle speed. The characteristics CHA-CHJ are set according to the vehicle speed such that these gradually change in a manner CHA&#x2192;CHJ as the vehicle speed becomes higher. The steering torque applied to the steering wheel is set such that the higher the vehicle speed is, the smaller the steering torque is, as shown by the characteristics CHA-CHJ.

Vehicle control device and vehicle control method

A vehicle control device includes an oncoming vehicle detection sensor that detects an oncoming vehicle approaching an own vehicle; and a controller configured to automatically apply brakes to the own vehicle to avoid a collision with the oncoming vehicle, detected by the oncoming vehicle detection sensor, under a condition that the own vehicle is at least partially in an opposite lane or a planned path of the own vehicle is at least partially in the opposite lane. The controller is further configured to set, between the own vehicle and the oncoming vehicle, a virtual area that moves with the oncoming vehicle and that extends toward the own vehicle using a rear end of the oncoming vehicle as a base point, and automatically brake the own vehicle to avoid the own vehicle coming into contact with the virtual area to avoid the collision between the own vehicle and the oncoming vehicle.

Disclosed is a driving support control device (ECU)capable of controlling a vehiclein accordance with any one selected from plural driving support modes by a driver. The driving support control deviceis configured to temporally repeatedly calculate a target traveling course (Rto R) along which the vehicleshould travel, and to, in a given one (preceding vehicle following mode) of the driving support modes, execute control of causing the vehicleto travel on and along the target traveling course, wherein the driving support control deviceis operable, in a situation where a current position of the vehicledeviates beyond a given distance dlaterally from the target traveling course, to, even when the driver selects the given driving support mode, prohibit transition to the given driving support mode.

Driving support control device

A vehicle control device includes a crossing vehicle detection sensor configured to detect a crossing vehicle approaching an own vehicle while the own vehicle is traveling in an intersecting lane, the intersecting lane being a lane that intersects an own vehicle lane at an intersection at a time the own vehicle approaches the intersection, the crossing vehicle being a vehicle travelling in the intersecting lane; and a controller configured to automatically brake the own vehicle to avoid a collision between the own vehicle and the crossing vehicle under a condition that the own vehicle enters the intersecting lane. The controller is configured to set, between the own vehicle and the crossing vehicle, a virtual area that moves with the crossing vehicle and that extends in an advancing direction of the crossing vehicle, and automatically brake the own vehicle to prevent the own vehicle from contacting the virtual area.

A vehicle control device includes an oncoming vehicle detection sensor and a controller that automatically applies brakes to avoid a collision with the oncoming vehicle, under a condition that the own vehicle is at least partially in an opposite lane or a planned path of the own vehicle is at least partially in the opposite lane. The controller sets a virtual area that moves with the oncoming vehicle and that extends in an advancing direction of the oncoming vehicle, and automatically brakes to avoid to avoid a collision. In response to the sensor detecting first and second oncoming vehicles, the controller sets first and second virtual areas, and automatically brakes the own vehicle to prevent coming into contact with the first virtual area and the second virtual area once the own vehicle traverses the opposite lane.

A vehicle control processor and method capable of preventing departure to an off-road, to reduce driver discomfort, irritation and stress. The control processor calculates a width of a side strip between a left mark line and a road end based on information from a camera. When the width is wider than a specified width, steering torque based on first and second steering characteristics are exerted. The steering torque based on the first steering characteristic is exerted when a vehicle lateral end is located within a range from a left mark line outer end to a characteristic switching position, set in accordance with the width of the side strip between the left mark line and the road end, and the steering torque based on the second steering characteristic is exerted when the vehicle lateral end is located within a range from the characteristic switching position to the road end.

Vehicle control processor and vehicle control method

Provided is a vehicle control device capable of efficiently performing vehicle control for safe driving assistance. A vehicle control device (ECU) () mounted in a vehicle is configured to: detect a stopped vehicle () located forward of the vehicle () in a traveling lane of the vehicle (); set a speed distribution area () which defines a distribution of an allowable upper limit value of a relative speed of the vehicle () with respect to the stopped vehicle (); detect a traveling state of a vehicle traveling in an adjacent lane of the vehicle (); and, based on the traveling state of the vehicle in the adjacent lane and the speed distribution area () with respect to the stopped vehicle (), execute an avoidance control of avoiding a collision with the stopped vehicle ().

Vehicle control system

The driving support control device is configured to, when a preceding vehicle is detected (S: YES), be permitted to cause a transition to the preceding vehicle following mode, in response to a manipulation made by the driver to select the preceding vehicle following mode (S), and then control the vehicleto follow the preceding vehicle, and to, when edges of a traveling road are detected even though no preceding vehicle is detected (S: YES), be permitted to cause the transition to the preceding vehicle following mode, in response to the manipulation made by the driver to select the preceding vehicle following mode (S), and then control the vehicleto travel on and along a given target traveling course set based on the edges of the traveling road.

Disclosed is a vehicle control system (ECU) provided in a vehicle () is configured be operable to: detect a preceding vehicle () ahead of the vehicle (), and set, in at least a part of a region around the preceding vehicle (), a speed distribution zone () defining a distribution zone of an allowable upper limit (V) of a relative speed of the vehicle () with respect to the preceding vehicle () in a traveling direction of the vehicle (); and, when the vehicle () is within the speed distribution zone (), to execute traveling control of preventing the relative speed of the vehicle () with respect to the preceding vehicle () from exceeding the allowable upper limit V, wherein, when the preceding vehicle () is located on a curved road (), the speed distribution zone () is set such that, in a lateral region of the speed distribution zone, a constant relative speed line (d, e, f) connecting plural points each having a same value of the allowable upper limit (V) is curved in conformity with a curvature of the curved road ().

A vehicle control device (ECU)is configured to, when there is an obstaclein a lane, execute traveling course correction processing (S) of setting a speed distribution zonedefining a distribution of an allowable upper limit Vof a relative speed of the vehiclewith respect to the obstacle, and calculate a corrected target traveling course Rc by correcting a target traveling course R so as to prevent the relative speed of the vehiclefrom exceeding the limit Vand enable the vehicleto avoid the obstacle. The traveling course correction processing includes restriction processing (S) of calculating the corrected target traveling course (restricted target travel courses Rc_through Rc_) such that a lateral avoidance distance (L_, L_) thereof is restricted to be smaller when a border line of the laneis not detected.

A control unit functionally comprises a first steering-torque application control part which commands a steering actuator of a vehicle to execute application of a steering torque determined by a first steering characteristic CHand a second steering-torque application control part which commands the steering actuator of the vehicle to execute application of a steering torque determined by a second steering characteristic CHIn a case where the vehicle travels at a curved portion of the lane, the first steering characteristic CHis set such that a first steering-force increase part Lis located further toward an allowed right-end point Eas a vehicle speed becomes higher and the second steering characteristic CHis set such that a magnitude of a torque maintenance part Lbecomes lower as a radius of curvature of the curved portion of the lane becomes smaller, like CHH-CHL.

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Hiroshima, Japan

Hiroshi Ohmura