Toyota Jidosha Kabushiki Kaisha

Denso Corporation

Keitaro Niki

Yoji Kunihiro

Masaharu Yamashita

Kenichiro Aoki

Yusuke Matsumoto

Shota Fujii

Kunihito Sato

Takeshi Goto

Yoshiaki Suzuki

Mitsuhisa Shida

Shuji Fujita

Eiji Kasai

Tomoyuki Doi

Mitsuyuki Ouchi

Akihiro Ohtomo

Masaki Fujimoto

Junro Yamamoto

Tsutomu Onagi

Megumu Nishikohri

Tomihide Masuda

Control unit estimates a curvature of an own lane based on a marking detected from an image captured by an imaging device. The control unit performs a steering control of the own vehicle in accordance with the estimated curvature of the own lane. When determining that only single side marking in both left and right markings is present and the road slope changes, the control unit apply restriction to the steering control performed in accordance with the curvature of the own lane.

Vehicle control apparatus

In a steering assist control apparatus including a steering assist control unit that controls the steering of an own vehicle by a manipulated variable allowing the own vehicle to run along a lane recognized by a lane recognition unit, and a control stop unit that decrease the manipulated variable with time when an abnormality detection unit detects a recognition abnormality in the lane recognition unit, the control stop unit decreases the manipulated variable at a manipulated variable decrease rate corresponding to a manner of the recognition abnormality. Thereby, at the time of the occurrence of the abnormality, it is possible to more adequately decrease the manipulated variable for the steering assist control, corresponding to the manner of the abnormality.

Steering assist control apparatus and steering assist control method

A steering wheel control unit executes control such that a steering wheel rotates in accordance with a first target steering angle and the steering wheel rotates in accordance with a second target steering angle when a steering operation is detected. A target steering angle setting unit sets the second target steering angle that asymptotically approaches an actual steering angle from the first target steering angle with the lapse of time, during a period from when the steering operation is detected during the automated driving until when an end of the steering operation is detected, and sets the second target steering angle that asymptotically approaches the first target steering angle with the lapse of time after the end of the steering operation is detected. After the steering operation takes place, the reaction force gradually decreases. After the steering operation ends, the reaction force gradually increases.

Automated driving apparatus and automated driving system

A travel control device for a vehicle has a steered angle varying deviceor a by-wire type steering devicewhich modifies a relationship of steered angle of steerable wheels to steering operation amount by a driver. When the control device decides that vehicle trajectory control is to be initiated or renewed, it calculates a target steered angle of the steerable wheels for driving the vehicle along a target trajectory which is required for the vehicle to arrive at a target arrival position in a target traveling direction on the basis of steering operation amount by a driver and vehicle speed at a time point of the decision. The control device controls the steered angle of the steerable wheels according to the target steered angle in feed-forward or feed-back manner.

Vehicle travel control device

A coordinate-control-gain calculation sectioncalculates a coordinate-control final control torque T_C required to properly control the traveling behavior of a vehicle, and determines a coordinate control gain Kg on the basis of the magnitude of this torque T_C. An arbitration-request determination sectiondetermines the value of an arbitration request flag FRG_A on the basis of the magnitude of the torque T_C and the value of a flag FRG_L output so as to properly control the traveling behavior of a vehicle. On the basis of the value of the flag FRG_A and the magnitude of the coordinate-control arbitration torque Tr determined by use of the gain Kg, an arbitration sectionselects the torque T_C or the torque Tr to be output as a post-arbitration control torque T_F. A post-arbitration drive control sectionsupplies to an electric motor a drive current corresponding to the determined torque T_F.

Steering control apparatus for vehicle

Information for generating a target speed pattern is computed from information acquired from various sensors and a running mode input switch, so as to generate the target speed pattern (S). A process for determining whether to form a vehicle group or not calculates the difference between the target vehicle pattern of the own vehicle and a target speed pattern of another vehicle or vehicle group obtained through inter-vehicle communication, so as to determine whether to form the vehicle group or not (S, S, S). This can determine whether to run solo or form a vehicle group according to a driver's demand.

Travel control device

An electric power steering device for a vehicle includes an estimation mechanism estimating if there is a possibility that a backward electric current flows in a booster circuit toward a vehicle battery device, and a boosting controller stopping the boosting operation of the booster circuit to prevent a backward electric current from flowing in the booster circuit when it is estimated that there is a possibility that a backward electric current flows by the estimation mechanism. The estimation mechanism estimates that there is a possibility that a backward electric current flows in the booster circuit when the steering condition of a steering wheel is a returning condition or a steering-held condition. Otherwise, the estimation mechanism estimates if a backward electric current flows on the basis of input and output voltages of the booster circuit and information on the switching of a first boosting switching element. Thereby, overheat of the booster circuit can be prevented.

Electric power steering device

Growing community of inventors

Susono, Japan

Keitaro Niki