Toyota Jidosha Kabushiki Kaisha

Denso Corporation

Denso Corpora Tion

Hirotaka Tokoro

Go Inoue

Yoshinori Watanabe

Takahiro Kojo

Yoji Kunihiro

Hisaya Akatsuka

Masaki Shiota

Shunsuke Tanimori

Takahiro Yokota

Shun Mizoo

Rui Fujino

Hisashi Kajita

A vehicle travel control device executes trajectory following control to make the vehicle follow a target trajectory. A delay time represents control delay of the trajectory following control. A delay compensation time is at least a part of the delay time. The trajectory following control includes: displacement estimation processing that estimates a displacement of the vehicle in the delay compensation time; and delay compensation processing that corrects a deviation between the vehicle and the target trajectory based on the estimated displacement to compensate the control delay. The displacement estimation processing is effective in an effective period and ineffective in an ineffective period. When the ineffective period is included in the delay time of the trajectory following control, the displacement estimation processing is executed in a temporary mode by using sensor-detected information in the effective period without using the sensor-detected information in the ineffective period.

Vehicle travel control device

A traveling control apparatus that allows lane changing due to a driver's steering intervention while continuing lane maintenance control includes an electronic control unit. The electronic control unit sets a target trace along a lane in which a vehicle is traveling, determines a target steering angle of the vehicle based on the target trace and a lateral position of the vehicle, applies control torque to a steering shaft of the vehicle based on the target steering angle, resets, in response to a change in the lateral position due to the driver's steering intervention which exceeds the control torque and entrance of the vehicle into an adjacent lane, the target trace to the adjacent lane, and determines, using a gradual changing function, in response to the resetting of the target trace, the target steering angle by changing the target steering angle at the time of the resetting.

Traveling control apparatus

A vehicle control system includes an information acquirer configured to acquire vehicle surrounding information, and a controller configured to execute driving assistance control. The controller is configured to set a first line as a target traveling line when an operation status of the driving assistance control is ON. The controller is configured to set, when a driving switching request is made, the target traveling line to cause a vehicle to travel along a second line displaced from the first line by a predetermined displacement amount after a specific timing that is a timing when a predetermined time has elapsed from a requested timing.

Vehicle control system

An override conciliating portion executes processing to conciliate an override request during an execution of automated driving control (i.e., override conciliation processing). In the override conciliation processing, it is determined whether or not there is the override request (step S). If the determination result of the step Sis positive, it is determined whether or not a second automated driving mode is selected as an operation mode (step S). If the determination result of the step Sis negative, acceptance processing of the override request is executed (step S). If the determination result of the step Sis positive, invalidation processing of the override request is executed (step S).

Vehicle control system for a first and second automated driving mode

An apparatus for performing driving aid control to cause a travel trajectory of a mobile object to follow a setpoint trajectory (La) by transmitting a control command value (&#x3b4;) to a yaw moment controller capable of controlling a yaw moment of the mobile object. In the apparatus, a setpoint trajectory setter is configured to set the setpoint trajectory (La) of the mobile object. A control command value calculator is configured to calculate the control command value (&#x3b4;) based on an integrated value (&#x3b4;I) of a lateral error that is an error between a position of the mobile object and the setpoint trajectory. The control command value calculator is further configured to decrease the integrated value (&#x3b4;I) with decreasing a curvature (&#x3c1;) of a road on which the mobile object is traveling.

Driving aid control apparatus

A vehicle control system installed on a vehicle executes turning control that controls a turning device configured to turn a wheel of the vehicle. The turning control includes: first turning control that generates a target trajectory and makes the vehicle follow the target trajectory; and second turning control that is executed independently of the first turning control without depending on the target trajectory. When the first turning control and the second turning control are executed simultaneously, the vehicle control system determines whether the first turning control counteracts turning by the second turning control. When the first turning control counteracts the turning by the second turning control, the vehicle control system replans the target trajectory by designating at least one of a current position and a current yaw angle of the vehicle as a starting point of the target trajectory.

An apparatus for performing driving aid control to cause a travel trajectory of a mobile object to follow a setpoint trajectory by transmitting a control command value to a yaw moment controller capable of controlling a yaw moment of the mobile object. In the apparatus, a first control command value calculator is configured to calculate a first control command value used to calculate the control command value. A straight-driving stabilizing compensator is configured to, when the mobile object is driving straight, calculate a first control command compensation value by decreasing the first control command value. A second control command value calculator is configured to calculate a second control command value used to calculate the control command value. A third control command value calculator is configured to calculate a final control command value based on the first control command compensation value and the second control command value.

Electronic stability control apparatus

A steering control device that can set and cancel an automatic driving mode includes a steering control unit, a cancellation instruction detection unit, a stop detection unit, and a steering angle reduction unit. The steering control unit controls a steering angle in the automatic driving mode so that a vehicle travels along an intended route. The cancellation instruction detection unit detects a cancellation instruction to cancel the automatic driving mode. The stop detection unit detects a stop of the vehicle. The steering angle reduction unit reduces the steering angle set by the steering control unit, if the cancellation instruction detection unit detects the cancellation instruction and the stop detection unit detects the stop of the vehicle.

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Kariya, Japan

Hirotaka Tokoro