Fuji Jukogyo Kabushiki Kaisha

Subaru Corporation

Toyota Jidosha Kabushiki Kaisha

Koji Matsuno

Hajime Oyama

Harunobu Horiguchi

Shiro Ezoe

Masaru Kogure

Masato Mizoguchi

Yutaka Hiwatashi

Munenori Matsuura

Yasushi Takaso

Takeshi Yoneda

Takayuki Nagase

Satoru Akiyama

Akira Takahashi

Eiichi Shiraishi

Atsushi Mine

Masato Igarashi

Tatsunori Nagura

Yosuke Morokuma

Masahiro Saito

Osamu Takahashi

Shinji Matsushita

Koichi Inoue

Toshihiro Konno

Takayuki Ushijima

Katsufumi Ichikawa

Keisuke Hosokawa

Yoshiki Shima

Tomohiro Yamada

Satoru Watanabe

Akihiro Watanabe

Hiroyuki Sekiguchi

Atsushi Fukuda

Yuji Kubota

Saiichiro Oshita

Yoshinori Maeda

Eiji Shibata

Haruo Fujiki

Kiminaga Shirakawa

Takeshi Terazawa

Kimimasa Murayama

Hideharu Tatsumi

Masayuki Matsushita

Masayuki Yajima

Kazuya Morota

Hirowatari Yosuke

Shigeo Usui

Nozomi Kosaka

Toyoyuki Motomura

Yuichirou Tamura

Fumihito Yamaguchi

Yutake Hiwatashi

A braking and driving force control apparatus to be provided in a vehicle including front-wheel and rear-wheel longitudinal force generators that generate longitudinal forces of front and rear wheels, respectively. The braking and driving force control apparatus includes: first and second road surface friction coefficient setting units that respectively set first and second road surface friction coefficients; and a braking and driving force distribution control unit. The second road surface friction coefficient is larger than the first road surface friction coefficient. When the front-wheel and rear-wheel longitudinal force generators generate a driving force, the braking and driving force distribution control unit controls an output allotment ratio by using the first road surface friction coefficient. When the front-wheel and the rear-wheel longitudinal force generators generate a braking force, the braking and driving force distribution control unit controls the output allotment ratio by using the second road surface friction coefficient.

Braking and driving force control apparatus

A driving/braking force control apparatus includes a front-wheel longitudinal force generator, a rear-wheel longitudinal force generator, a tire slip angle output unit, a tire lateral force output unit, a slip ratio output unit, a tire lateral force change rate output unit, a target yaw moment setting unit, and a driving/braking force distribution control unit. The driving/braking force distribution control unit performs a control of an output allocation ratio between the front-wheel longitudinal force generator and the rear-wheel longitudinal force generator based on a target value of an additional yaw moment, a change rate of a tire lateral force of a front wheel to a slip ratio of the front wheel, and a change rate of a tire lateral force of a rear wheel to a slip ratio of the rear wheel.

Driving/braking force control apparatus

A driver assistance apparatus includes a tire force margin calculation unit of a front inner wheel in cornering, a driving operation command output unit, and an information presentation unit. The tire force margin calculation unit of the front inner wheel in cornering estimates, on the occasion of cornering of a vehicle, a tire force limit and a tire force current value of the front inner wheel in cornering, and calculates a tire force margin based on the tire force limit and the tire force current value. In accordance with a decline in the tire force margin of the front inner wheel in cornering, the driving operation command output unit outputs a driving operation command that causes restoration of the tire force margin. The information presentation unit presents a driver who drives the vehicle with information regarding the driving operation command outputted by the driving operation command output unit.

Driver assistance apparatus

A turning behavior control device for a vehicle includes a yaw rate detection unit, a brake unit, a drive source, and a travel control unit. The travel control unit includes a deviation value calculation unit that calculates a deviation between a reference yaw rate for determining the degree of understeer during turning of the vehicle and an actual yaw rate detected by the yaw rate detection unit, a braking force control unit that outputs, to the brake unit, a first signal for applying the braking force to a turning inner-side rear wheel or a turning inner-side front wheel when determining that the deviation exceeds a predetermined deviation reference value, and a driving force control unit that outputs, to the drive source, a signal for applying a driving force to a turning outer-side rear wheel or a turning outer-side front wheel when the braking force control unit outputs the signal.

Turning behavior control device for vehicle

A driving force estimation apparatus includes a free rolling rotation speed output unit, an actual rotation speed detector, a slip rate calculation unit, a driving force estimation unit, a slip angle output unit, and a stiffness correction unit. The free rolling rotation speed output unit outputs free rolling rotation speeds of front and rear wheels in a free rolling state devoid of a braking or driving force. The slip rate calculation unit calculates slip rates of the front and rear wheels, from the free rolling rotation speeds and actual rotation speeds. The driving force estimation unit estimates driving forces of the front and rear wheels, using driving or braking stiffnesses of the front and rear wheels and the slip rates. The slip angle output unit outputs slip angles of the front and rear wheels. The stiffness correction unit corrects the driving or braking stiffnesses based on the slip angles.

Driving force estimation apparatus

A vehicle traveling control apparatus includes a first setting unit and a correcting unit. The control target point setting unit sets a set position of a preceding vehicle ahead of an own vehicle in a vehicle width direction as a control target point of follow-up traveling for traveling while following the preceding vehicle. The steering control amount correcting unit corrects, on a basis of deviation between a target steering angle that brings the own vehicle to the control target point and an actual steering angle, an amount of a steering control that controls the own vehicle to the target steering angle which is a steering angle that brings the own vehicle to the control target point.

Vehicle traveling control apparatus

A vehicle braking force controlling apparatus includes a steered start detector and a controller. The steered start detector detects steered start of a vehicle on a basis of a driving state of the vehicle. The vehicle has a plurality of wheels. The steered start is start of the vehicle in which steering is performed. The controller applies braking force to a turning inner front wheel and braking force to a turning outer rear wheel when the steered start of the vehicle is detected by the steered start detector. The turning inner front wheel is a front wheel of the plurality of wheels which is located on inner side upon turning of the vehicle. The turning outer rear wheel is a rear wheel of the plurality of wheels which is located on outer side upon the turning of the vehicle.

Vehicle braking force controlling apparatus

A travel control apparatus for a vehicle detects a vehicle to be passed that is a target of passing and is in front of the vehicle equipped with the apparatus in the traveling lane thereof, detects a parallel traveling vehicle that is traveling in a lane that is adjacent to a lane to which the vehicle performs lane changing to pass the vehicle to be passed and is located on the opposite side of the lane which the vehicle to be passed is traveling, monitors the vehicle to be passed and the parallel traveling vehicle, and variably controls a passing maneuver with respect to the vehicle to be passed on the basis of a monitoring result.

Travel control apparatus for vehicle

A control unit of an assist controller for a vehicle estimates the visibility of a driver, calculates a visibility degradation ratio as a temporal change amount of the visibility, compares the visibility degradation ratio with a warning threshold that has been set in advance according to a vehicle speed, determines whether to warn the driver with a warning device, compares the visibility degradation ratio with a control characteristic change threshold that has been set in advance according to a vehicle speed, determines changes in control characteristics of the ABS function, skid preventing control function, and brake assist control function, compares the visibility degradation ratio with a deceleration control actuation threshold that has been set in advance according to a vehicle speed, and determines whether to execute automatic braking.

Driving assist controller for vehicle

A vehicle automatic driving control apparatus executes an automatic traveling control by performing setting on preset automatic-driving-required drive torque as target torque, and includes a traction-control-required drive torque setting unit that sets, when a preset operating condition of a traction control is satisfied, traction-control-required drive torque as the target torque to decrease drive torque and thereby suppress a drive wheel slip, an automatic-driving-required drive torque decreasing unit that gradually decreases, based on a preset amount, the automatic-driving-required drive torque when the traction control is operated, a torque comparing unit that compares the traction-control-required drive torque with the decreased automatic-driving-required drive torque, and an automatic-driving-required drive torque setting unit that completes the traction control and performs the setting again on the decreased automatic-driving-required drive torque as the automatic-driving-required drive torque for the automatic driving control, when the traction-control-required drive torque is determined as exceeding the decreased automatic-driving-required drive torque.

Vehicle automatic driving control apparatus

A travel control apparatus for a vehicle detects a vehicle to be passed that is an target of passing and is located in front of a vehicle equipped with the travel control apparatus in a traveling lane thereof on the basis of peripheral environment information and travel information, detects a following vehicle that is behind the vehicle in the traveling lane thereof as a following vehicle in the original lane on the basis of the peripheral environment information, monitors the vehicle to be passed and the following vehicle in the original lane, and variably controls a passing maneuver with respect to the vehicle to be passed on the basis of a monitoring result.

A vehicle traveling control apparatus includes a vehicle parameter detector, a vehicle parameter estimator, a disturbance-suppressing parameter calculator, an addition rate changer, and a disturbance suppressor. The vehicle parameter detector detects a vehicle parameter. The vehicle parameter estimator estimates, by means of a vehicle model, a vehicle parameter to be outputted in response to an input value. The disturbance-suppressing parameter calculator estimates, based on the vehicle parameters detected by the vehicle parameter detector and estimated by the vehicle parameter estimator, a disturbance generated at a vehicle, and calculates a disturbance-suppressing parameter. The addition rate changer identifies, based on the vehicle parameters detected by the vehicle parameter detector and estimated by the vehicle parameter estimator, the disturbance generated at the vehicle, and variably sets, based on the identified disturbance, an addition rate of the disturbance-suppressing parameter. The disturbance suppressor adds the disturbance-suppressing parameter set by the addition rate changer.

A travel control apparatus for a vehicle includes: a travel environment information acquisition unit that acquires travel environment information on a travel environment where the vehicle travels; a travel information detector that detects travel information on the vehicle; and an overtaking controller that detects an overtaking target vehicle ahead of the vehicle in an identical travel lane on the basis of the travel environment information and the travel information, and overtakes the overtaking target vehicle using automatic driving control. When failures are detected in relation to the travel environment information acquisition and in a steering system of the vehicle during the overtaking control, the overtaking controller modifies the overtaking control by activating required substitute control in accordance with the travel environment information obtained most recently before detecting the travel environment information acquisition failure, information on the overtaking target vehicle, the travel information, and conditions during the overtaking control.

In a travel control apparatus for a vehicle, a travel environment information acquisition unit acquires travel environment information, and a travel information detector detects travel information relating to the vehicle. The apparatus executes automatic driving control based on such information pieces. A vehicle peripheral object detector detects an object around the vehicle, separately to the travel environment information acquisition unit. An environment information acquisition failure detector detects an acquisition failure in the travel environment information acquisition unit. Upon an acquisition failure of the travel environment information, an evacuation controller executes evacuation control by evacuating the vehicle to the roadside through automatic driving based on the travel environment information detected most recently before the acquisition failure and the travel information, and activates the vehicle peripheral object detector and, when an object is detected on the periphery around the vehicle, executes the evacuation control.

In a travel control apparatus for a vehicle, a travel environment information acquisition unit acquires travel environment information on a travel environment of the vehicle. A travel information detector detects travel information on the vehicle in order to execute automatic driving control based on such information pieces. A lateral force generator generates lateral force to be applied to the vehicle during the automatic driving control. A torsion bar is interposed on a torque transmission path of a steering system. A steering wheel angle detector detects a steering wheel angle. A lateral force detector detects the lateral force acting on the vehicle. An intervening steering operation determination unit determines that a driver has performed an intervening steering operation when a characteristic of the detected steering wheel angle and lateral force differs from a reference characteristic that varies univocally when the steering wheel is in a no load condition.

Growing community of inventors

Tokyo, Japan

Koji Matsuno