Hitachi, Ltd.

Hitachi Astemo Ltd.

Hitachi Automotive Systems, Ltd.

Kenta Maeda

Junya Takahashi

Yasuhito Nakakuki

Atsushi Yokoyama

Takahiro Ito

Masaru Yamasaki

Go Sakayori

Kentarou Ueno

Atsushi Hirata

Shuji Ohshita

Toshiyuki Innami

Tadaharu Yokota

Kazuya Yamano

Shunsuke Aritomi

Yuki Akiyama

Masamichi Imamura

Takahiro Itou

Tomoaki Fujibayashi

Shinya Kasai

Hiroki Sonoda

Huajun Liu

Naoki Hiraga

Chung Kim Tang

A vehicle integrated control device improves ride comfort and prevents the onset of motion sickness. The vehicle integrated control device acquires a target momentum of a control axis related to a driving task of the vehicle and generates a first motion parameter and a second motion parameter different from the first motion parameter that is based on the first motion parameter to optimize a sensitivity index. A limit generation unit generates a motion limit amount of the second motion parameter based on the first motion parameter and an operation range of an actuator, a final target generation unit that corrects the second motion parameter based on the motion limit amount, and an operation amount assignment unit that determines an operation amount of an actuator based on the first motion parameter and the second motion parameter corrected by the final target generation unit.

Vehicle integrated control device and vehicle integrated control method

A control device method for steer by wire, the control device including a first motor controlling steering via an FBA and a second motor controlling a steering angle of a wheel via an RWA and being capable of bidirectionally controlling the first motor and the second motor includes a base SAT that obtains a reference torque based on an angle of the first motor and a vehicle speed, and a rack force estimation portion that estimates rack force as a reaction force based on a steering angle of a wheel and an RWA. A first control mode controls a reference torque of the first motor and a second control mode controls the first motor based on a reaction force estimation by the rack force estimation portion, the first and second control modes are switched based on output of the base SAT and output of the rack force estimation portion.

Control device and control method for steer by wire

A steer-by-wire control device according to the present invention includes a control device that controls a first motor that operates a steering wheel of a vehicle and a second motor that controls steering operation of a wheel. Before making a transition to an automatic driving mode of the vehicle, the control device applies input torque to the steering wheel by the first motor in a forward rotation direction and a backward rotation direction of rotation directions of the first motor, acquires behavior information of the steering wheel obtained by application of the input torque, and determines whether or not to estimate a control parameter of the steering wheel based on the behavior information. The behavior information includes at least one of a value of a rotation angle of a steering wheel and a value obtained by time-differentiating a rotation angle.

Steer-by-wire control device and steer-by-wire control method

A vehicle integrated-control device generates internal commands that supplement insufficient external commands in an environment where external commands are insufficient and that integrally controls each actuator to improve the operational feeling of the driver and occupant ride comfort. The vehicle integrated-control device integrally controls actuators mounted in a vehicle to control the vehicle using six control axes which are front-rear, left-right, up-down, roll, pitch, and yaw control axes, and comprises a command value acquisition unit that acquires an external command corresponding to at least one and not more than six control axes for realizing a desired driving operation; a command value supplementation unit that, based on the external command, generates an internal command corresponding to a control axis other than the control axes corresponding to the external command; and an operation amount control distribution unit that controls the plurality of actuators based on the external command and the internal command.

Vehicle integrated-control device and vehicle integrated-control method

A system includes a first device that controls a moving body and a second device that remotely controls the moving body. The first device obtains information around the moving body, movement information of the moving body, and remote control information. The first device calculates a control amount for controlling movement of the moving body based on one of the information and the movement information, switches autonomous movement and remote control of the moving body based on the remote-control information, and transmits one of the information, the movement information, and the control amount to the second device. The second device receives one of the information, the movement information, and the control amount, transmits the remote-control information to the first device, determines autonomous mobility of the moving body based on second information stored remotely, and generates the remote-control information including a determination result.

Moving body control system

The present disclosure provides a steering control device capable of transmitting an appropriate reaction force by a driver via a steering wheel and improving the stability of a vehicle. Provided is a steering control devicefor controlling a reaction force actuatorthat generates a reaction force against an operation of a driver in a steering wheelof a vehicle. The steering control deviceincreases the reaction force in a nonlinear region where a cornering force characteristic that is the relationship between the slip angle and the lateral force of tiresof the vehiclebecomes nonlinear, more than the reaction force in a linear region where the cornering force characteristic becomes linear.

Steering control device

The purpose of the present invention is to provide a vehicle control system that can achieve highly comfortable autonomous driving according to the behavior of an occupant by changing a control mode of the autonomous driving according to the behavior of the occupant. To this end, a vehicle control system, which automatically drives a vehicle, comprises: an occupant information detection unit that detects, on the basis of in-vehicle information, position information and behavior information on the occupant; a tolerance calculation unit that calculates a vehicle motion tolerance on the basis of the position information and the behavior information detected by the occupant information detection unit; a trajectory generation unit that generates, on the basis of the vehicle motion tolerance calculated by the tolerance calculation unit, trajectory information including a traveling-scheduled route and time; and an autonomous driving control unit that generates, according to the trajectory information generated by the trajectory generation unit, a control command value to be sent to an actuator of the vehicle.

Vehicle control system

Provided are a vehicle motion control device, a method thereof, a program thereof, a system thereof in which it is adapted for traveling situation while an occurrence of an unstable behavior of a vehicle at the time of automatic lane change is suppressed, and a target trajectory generation device, a method thereof, a method thereof, a program thereof, and a system thereof. In a vehicle that can automatically control a lateral acceleration generated in the vehicle at the time of lane change, the lateral acceleration at the time of lane change is controlled such that an absolute value of a maximum lateral acceleration generated on a lateral acceleration generation phase (the secondary steering side) in a lateral direction opposite to the moving direction at the time of lane change is equal or more than an absolute value of a maximum lateral acceleration generated on a lateral acceleration generation phase (primary steering side) in the same direction as a lateral moving direction at the time of lane change.

Vehicle movement control device, method, program, and system, and target trajectory generating device, method, program, and system

Provided are: a device and a method for controlling vehicle movement, with which it is possible to suppress causing uncomfortableness to vehicle occupants and causing unstable behavior during turning by automatic travel control; and a device and a method for generating a target course. In a vehicle capable of automatically controlling lateral acceleration occurring in the vehicle, the present invention controls the acceleration occurring in the vehicle such that jerk, which is the change over time of acceleration, becomes the greatest in a region where the lateral acceleration that occurs upon entering a curve is equal to or less than half the acceleration during normal turning, and the jerk decreases as the acceleration increases.

Device and method for controlling vehicle movement, and device and method for generating target course

A moving body control device expands an autonomously movable region, appropriately determines reliability of the expanded region, and realizes stable autonomous movement at low cost. The device includes: an external map acquisition unit acquiring an external map; a sensor acquiring external environment information around the moving body; a movement information acquisition unit acquiring movement information indicating a position or an advancing angle of the moving body; an autonomous movement range management unit generating an autonomous movement map based on the external information or the movement information; and a control unit controlling movement of the moving body based on the autonomous movement map, the external environment information, or the movement information, the autonomous movement range management unit comparing the autonomous movement map with the external map, the control unit controlling the moving body based on a comparison result in the autonomous movement range management unit.

Moving body control device

A travel control device includes an operation acquiring unit for acquiring an operation by a driver of a host moving body; an outside-world information acquiring unit for acquiring outside-world information of the periphery of the host moving body; a moving-body information acquiring unit for acquiring moving-body information relating to a travel state of the host moving body; a travelable-range management unit for managing the range travelable by the moving body; and a control unit for controlling travel by the moving body on the basis of the operation acquired by the operation acquiring unit, the outside-world information acquired by the outside-world information acquiring unit, the moving-body information acquired by the moving-body information acquiring unit, and the travelable range managed by the travelable-range management unit, the travelable-range management unit including a travelable-range enlargement unit for enlarging the travelable range, and a travelable-range evaluation unit for evaluating the travelable range.

Travel control device for moving body

The present invention increases detectable areas and increases vehicle speed while ensuring safety, thereby enhancing vehicle utility for drivers. The present invention is provided with: an information integration means which collects and integrates external observation information received from observation entities; a reliability calculation means which calculates the reliability of the observation information; an observation information transmission means which transmits the observation information and the calculated reliability to a travel control device via communications; an operation ascertaining means which ascertains an operation performed by an operator; a surroundings information acquisition means which acquires information about the surroundings of a host vehicle; a vehicle information acquisition means which acquires vehicle information indicating the traveling state of the host vehicle; a communication means which acquires the observation information and said reliability from an observation information integration device via communications; a travel area management means which manages areas that can be traveled by the host vehicle; and a travel control means which controls the travel of the host vehicle on the basis of said ascertained operation, the areas that can be traveled by the host vehicle, said surroundings information, the vehicle information, the observation information, and travel areas.

Travel control system

It is an object of the present invention to provide a power steering apparatus control device in which it is possible to suppress generation of the canceling of the automatic steering unintended by the driver. The present invention provides a control device controlling the operation of a power steering apparatus in which there is selected either an assist control () in which a steering force is assisted based on a steering torque input through the operation of a steering wheel or an automatic steering control () in which a steering angle of a turning wheel is controlled based on a steering angle command value. When, in the state in which the automatic steering control () is selected, the steering torque exceeds a predetermined threshold value, the automatic steering control () is canceled and the assist control () is selected. There is set a steering angle velocity command value in accordance with an increase amount of the steering torque due to the turning based on the automatic steering control (), whereby there is performed a canceling suppression control in which canceling of the automatic steering control () is suppressed.

Power steering apparatus control device and power steering apparatus

In the present invention, it is possible to accurately predict, at an earlier timing, that a pedestrian will perform constant speed movement or a route change that is more complex than the constant speed movement. Provided is a travel control device that can accurately determine a change in the route of the pedestrian according to a change in the pedestrian's posture and, in particular, a change in the orientation of the body or a change in an inverted angle, and that can appropriately control the travel of the vehicle.

Travel control device

A vehicle drive control apparatus includes: an object detection unit which detects positions, speeds, and sizes of objects around an own vehicle; and a speed control unit which detects a moving object existing in a place adjacent to a scheduled travelling path of the own vehicle and a speed change induction obstacle inducing a future speed vector change of the moving object from the objects detected by the object detection unit and changes a speed of the own vehicle, on the basis of a relative position relation of the own vehicle and the detected moving object and the speed change induction obstacle.

Growing community of inventors

Tokyo, Japan

Kenta Maeda