Mitsubishi Electric Corporation

Kazuo Hitosugi

Toshihide Satake

Takahiro Urabe

Yu Takeuchi

Fumiaki Kadoya

Kazushi Maeda

Shuuhei Nakatsuji

Hideyuki Tanaka

Hiroaki Kitano

Takanori Matsunaga

Masaya Endo

Yuki Yoshida

Yukiyasu Akemi

A lane information detection unit detects the shape and the road width of a traveling lane of a vehicle. A present transverse position detection unit detects a present transverse position indicating a present traveling position of the vehicle in the width direction of the traveling lane. A driver-corresponding transverse position setting unit sets a driver-corresponding transverse position corresponding to a driving tendency of a driver. An upper/lower limit value setting unit sets upper/lower limit values that the driver-corresponding transverse position can take, in accordance with the road width. Then, when change in the road width is detected, a transverse position control amount calculation unit sets, as a target transverse position, the driver-corresponding transverse position within the upper/lower limit values in which the change is reflected, and calculates a transverse position control amount for the vehicle from the present transverse position of the vehicle.

Vehicle control device and vehicle control method

By an offset amount being calculated based on a lateral position deviation from a target travel path at a forward point-of-gaze of a host vehicle at a time of a driver steering state, a series of vehicle control operations until switching back from the driver steering state to an automatic steering control, and traveling along an offset travel path, becomes smoother, whereby comfort when riding in a vehicle is increased.

A vehicle position detector includes: a satellite positioning receiver; an autonomous navigation processor outputting an own-vehicle position as an autonomous navigation position; a determining unit determining occurrence of a position jump on the basis of a positional difference between the autonomous navigation position and a satellite positioning position detected by the satellite positioning receiver using satellite positioning; and a selector selecting one of the autonomous navigation position and the satellite positioning position on the basis of positioning precision of satellite positioning output by the satellite positioning receiver, and a result of the determination, wherein the vehicle position detector outputs one of the autonomous navigation position and the satellite positioning position as the own-vehicle position on the basis of a result of the selection.

Vehicle position detector, automatic steering controller, vehicle position detecting method, and automatic steering control method

A travel direction estimation device mounted on a vehicle including a position detector and an angular velocity detector to estimate a travel direction of the vehicle includes: a first angle processor calculating a first angle based on a change of a position of the vehicle being detected in the position detector and updated at a predetermined time interval, a second angle processor calculating a second angle based on a rotational angular velocity of the vehicle being detected in the angular velocity detector and a detection interval of the position of the vehicle in the position detector, and a travel direction processor calculating the travel direction of the vehicle based on the first angle and the second angle. The travel direction estimation device can estimate a travel direction of a vehicle with a high degree of accuracy.

Travel direction estimation device

In the vehicle traveling control device, a host vehicle location specification unit specifies a host vehicle location on a map. A first peripheral information detector detects a location of a planimetric feature or characteristics of a road in a periphery of the host vehicle on the basis of map data and the host vehicle location on the map specified by the host vehicle location specification unit. A second peripheral information detector detects a location of a planimetric feature or characteristics of a road in the periphery of the host vehicle on the basis of information acquired by a camera, a sensor, or a road-vehicle communication device mounted on the host vehicle. When the detection result from the first peripheral information detector and the detection result from the second peripheral information detector do not coincide, an automatic driving restriction unit restricts performance of automatic driving of the host vehicle.

Vehicle traveling control device and vehicle traveling control method

A vehicle behavior detection apparatus can accurately detect an unstable state of a vehicle without making an incorrect determination even if a travel environment of the vehicle is abnormal. The apparatus includes a road surface reaction torque detecting unit that detects a road surface reaction torque which a tire of the vehicle receives from a road surface, a steering angle detecting unit that detects a steering angle of the vehicle, a vehicle speed detecting unit that detects a speed of the vehicle, a standard road surface reaction torque calculating unit that calculates a standard road surface reaction torque from the steering angle and the vehicle speed, a vehicle behavior state detecting unit that detects the unstable state of the vehicle, and a vehicle behavior detection inhibiting unit that invalidates the vehicle behavior state detecting unit based on the road surface reaction torque and the standard road surface reaction torque.

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Tokyo, Japan

Kazuo Hitosugi