Toyota Jidosha Kabushiki Kaisha

Robert Boschgmbh

Kumiko Kondo

Naoki Taki

Shogo Ito

Hiroshi Harada

Masaaki Uechi

Yoji Mizoguchi

Shinya Kawamata

Kohei Tochigi

Toshifumi Kawasaki

Atsutoshi Sakaguchi

Hideaki Hayashi

Akio Kimura

Tomohiko Futatsugi

Hironori Ito

Akira Nagae

Ryo Inomata

Masayuki Ikeda

Tomoyuki Doi

Hiroshi Toyoda

Toshifumi Sugisawa

A vehicle control apparatus comprises a sensor that obtains object information on an object that is present in front of a vehicle; a regenerative brake device that applies a regenerative brake force to a wheel; a friction brake device that applies a friction brake force to the wheel; and a control unit that performs a deceleration control to control at least one of the regenerative brake device and the friction brake device, when an execution condition is satisfied, in such a manner that a total of the regenerative brake force and the friction brake force becomes equal to a target brake force. The control unit is configured to make a maximum regenerative brake force smaller when a friction condition is satisfied than when the friction condition is not satisfied. The friction condition is satisfied when it is predicted that the target brake force will become greater than a predetermined force.

Vehicle control apparatus

Provided is a driving support device () including: an operation sensor configured to acquire operation information that is information on an operation on a driving operation device included in an own vehicle; a periphery sensor configured to acquire peripheral information that is information on a target object existing in a periphery of the own vehicle; and a control device configured to execute deceleration support control of supporting a driving operation executed by a driver to decelerate the own vehicle when existence of a target object in front of the own vehicle is detected based on the peripheral information and a predetermined precondition relating to the target object and the own vehicle is satisfied. The control device determines, when the precondition is satisfied and an operation of depressing a brake pedal of the own vehicle is released, a mode of the deceleration support control based on information on one or both of a steering angle and a position of the own vehicle in a crossing direction on a travel lane on which the own vehicle is traveling at a time point when the precondition is satisfied and the operation of depressing the brake pedal of the own vehicle is released.

Driving support device, driving support method, and driving support program

The driving support apparatus performs deceleration control of the vehicle. The driving support apparatus includes: a sensitivity setting unit configured to set an actuation sensitivity of a deceleration control; a deceleration execution unit configured to execute the deceleration control based on the actuation sensitivity; and a brake operation detection unit configured to detect a brake operation by a driver. The sensitivity setting unit changes the actuation sensitivity based on a control execution count which is the number of executions of the deceleration control and a driver operation count which is the number of operations of the brake operation.

Driving support apparatus

A driving assistance device configured to execute deceleration assistance for a driver's vehicle when the driver's vehicle turns right or left at an intersection is configured to recognize, based on a detection result from an external sensor of the driver's vehicle, an adjacent vehicle traveling in an adjacent lane adjacent to a traveling lane of the driver's vehicle, determine whether the adjacent vehicle turns in the same direction of the driver's vehicle at the intersection based on the detection result from the external sensor when the adjacent vehicle is recognized and the driver's vehicle turns right or left at the intersection, and execute the deceleration assistance to cause a vehicle-to-vehicle distance between the driver's vehicle and the adjacent vehicle to reach a distance equal to or larger than a target driver's vehicle-to-adjacent vehicle distance when the driving assistance device determines that the adjacent vehicle turns in the same direction.

Driving assistance device

A driving assistance apparatus includes an estimator and a controller. The estimator estimates a first estimated vehicle speed and a second estimated vehicle speed when there are a first deceleration target and a second deceleration target in a course ahead of a vehicle, and when a driver of the vehicle releases an accelerator pedal. Wherein the first estimated vehicle speed is an estimated vehicle speed of the vehicle at a first target position corresponding to the first deceleration target, and the second estimated vehicle speed is an estimated vehicle speed of the vehicle at a second target position corresponding to the second deceleration target. The controller controls the vehicle to automatically decelerate toward the second target position when the first estimated vehicle speed is greater than a first predetermined value, and when the second estimated vehicle speed is less than a second predetermined value.

Driving assistance apparatus

There is provided a driving assistance device that executes deceleration assistance of a host vehicle when a relative situation between a deceleration object in front of the host vehicle and the host vehicle satisfies a preset deceleration assistance precondition and a driver of the host vehicle does not operate an accelerator and a brake, the driving assistance device including a first deceleration assistance execution unit configured to execute a first deceleration assistance when the deceleration assistance precondition is satisfied in a state in which the driver of the host vehicle does not operate the accelerator and the brake, and a second deceleration assistance execution unit configured to execute a second deceleration assistance when the driver releases the accelerator or the brake in a state in which the deceleration assistance precondition is satisfied.

A vehicle control method of performing automatic braking for automatically braking a vehicle or alarm output, depending on a possibility of a collision between the vehicle and an obstacle, includes: cancelling the automatic braking or the alarm output, when an accelerator operation amount is equal to or larger than a predetermined threshold value, during the automatic braking or the alarm output, and cancelling the automatic braking or the alarm output, when a given cancellation condition is satisfied under a situation where the accelerator operation amount of the vehicle is smaller than the predetermined threshold value, during the automatic braking or the alarm output.

Vehicle control method and vehicle control system

A lane departure prevention apparatus () has: a controlling device () configured to control a braking device () so that prevention yaw moment for preventing a vehicle from departing from a driving lane; and determining device () configured to determine whether or not slip ratio of a front wheel is larger than a first threshold value (KSfr) and whether or not slip ratio of a rear wheel is larger than a second threshold value (KSrr), the controlling device is configured to control the braking device so that the braking force applied from the braking device becomes smaller than the braking force for applying the prevention yaw moment, if it is determined that the slip ratio of the front wheel is larger than the first threshold value and/or the slip ratio of the rear wheel is larger than the second threshold value.

Lane departure prevention apparatus

A vehicular braking/driving-force control apparatus includes an accelerator operation detection part configured to detect an accelerator operation; a driving-force limiting apparatus configured to carry out driving-force limiting control of limiting driving force of an own vehicle in such a manner that an upper-limit speed that is set will not be exceeded; an automatic braking control apparatus configured to carry out automatic braking control of automatically generating braking force in the own vehicle based on a relative distance or a relative speed between an obstacle in front of the own vehicle and the own vehicle, and have a cancellation function of inhibiting a start of the automatic braking control based on the accelerator operation; and a control part configured to inhibit the cancellation function from being executed when the driving-force limiting apparatus is in an activated state where the driving-force limiting apparatus is allowed to carry out the driving-force limiting control.

Vehicular braking/driving-force control apparatus

A vehicle forward information acquiring device includes a bracket fixed to a windshield, a cover mounted to the bracket by being moved along the bracket in one direction, and a vehicle forward information acquiring sensor accommodated between the bracket and the cover. The cover is mounted to the bracket while being pressed against the bracket by a first elastic force and a second elastic force generated when a first engaging portion and a second engaging portion formed on the cover are respectively engaged with a first engaged portion and a second engaged portion formed on the bracket. A position of the cover on the bracket when the first elastic force becomes a maximum value is different from a position of the cover on the bracket when the second elastic force becomes a maximum value.

Vehicle forward information acquiring device

An in-vehicle control device includes a first sensor that acquires obstacle information in a first detection range, a second sensor that acquires obstacle information in a second detection range, the second detection range is nearer to a host vehicle than the first detection range, and a processor configured to perform predetermined control for preventing collision with an obstacle or for reducing damage at collision time based on the obstacle information received from the first sensor and the second sensor and, when the obstacle is not detected by the first sensor and the second sensor after starting the predetermined control based on the obstacle information received from the first sensor, uses positional relation information to determine whether the predetermined control is to be continued wherein the positional relation information indicates a height-direction positional relation between a predetermined part of the obstacle and the first detection range or the second detection range.

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Nisshin, Japan

Kumiko Kondo