Hitachi Astemo Ltd.

Hitachi Automotive Systems, Ltd.

Hitachi, Ltd.

Masashi Seimiya

Yoshiyuki Yoshida

Tomoyasu Sakaguchi

Takashi Matsuoka

Masato Imai

Tetsuo Matsumura

Naoyuki Tashiro

Kinya Fujimoto

Satoshi Matsuda

Yoshihiko Akagi

Yoshitaka Fukasawa

Munetoshi Tsuge

Shinya Kasai

Akitoshi Miyazaki

Keiichiro Hirakawa

Hiroshi Sakamoto

Tatsuya Ochi

Seiji Asano

Yusuke Kogure

Wataru Katou

Masanori Nukui

Takaya Ishii

Motomune Suzuki

An object of the present invention is to improve convenience of parking assistance. A control deviceof a driving assistance devicecontrols an emergency brake device that actuates an emergency brake based on a distance to an obstacle detected by a sonarconstituting the detection device mounted on a vehicleand a parking assistance device that provides parking assistance for the vehicle. In the sonarconstituting the detection device, an upper limit value and a lower limit value that define a range of the distance in which an obstacle can be detected are determined in advance. The control deviceinvalidates the operation of the emergency brake device when the distance between the vehicleand the obstacle at a target vehicle stop position which is a target position for stopping the vehiclein the parking assistance is smaller than the lower limit value.

Control device for driving assistance device

An object is to reduce the data size of surrounding environment information to be stored. A vehicle control device that includes a processor, a first storage unit, and a second storage unit, and stores route information to a target point, the vehicle control device including: an input device that acquires route information of a vehicle and surrounding environment information around the vehicle; and a short-term storage information processing unit that stores the route information and the surrounding environment information acquired while the vehicle is traveling into the first storage unit as short-term storage information, in which the short-term storage information processing unit calculates a feature degree of the surrounding environment information when storing the route information, and temporarily stores the surrounding environment information in which the feature degree is equal to or greater than a predetermined value into the first storage unit as the short-term storage information.

Vehicle control device

A vehicle control device includes a counting unit that counts rotation of wheels by a sensor; and a rotation determination unit that determines the rotation based on a count value of each of the wheels obtained by the counting unit. Based on a movement distance of a vehicle, the movement distance of each of the wheels from rotation detection to the next rotation detection is defined as a rotation detection travel distance of each of the wheels. The rotation determination unit determines a rotation direction of a wheel a second time is a direction opposite to that detected for a first time when rotation detection is not performed even once for a first reference wheel having a rotation detection travel distance equal to or less than a rotation detection travel distance of the first determination target wheel while the rotation of the selected first determination target wheel is detected twice.

A vehicle parking control device has a processor and a memory to control the vehicle from a starting to a target parking position. The vehicle control device includes an obstacle detection unit detecting obstacles around the vehicle, a travelable area setting unit setting an area where the vehicle can travel based on a position of the obstacles, and sets the target parking position in the travelable area, a route generation unit calculating a travel route to the target parking position in the travelable area, and a parking execution unit that causes the vehicle to travel toward the target parking position on the basis of the travel route. The route generation unit generates a route from a parking start position to the target parking position, and corrects a distance of the section to a predetermined distance when the distance of the section is less than the predetermined distance.

A parking assist device capable of parking assistance that ensures high accuracy of a parking location is provided. A parking assist device that assists in performing an operation of parking a vehicle includes a parking-allowing location calculation unit that before the vehicle stops at a parking-allowing location, calculates and updates the parking-allowing location a plurality of times, and a parking route calculation unit that calculates a parking route. The parking route calculation unit sets a minimum turning radius for calculating the parking route, based on the amount of a shift between the parking-allowing location not updated and the parking-allowing location having been updated, and calculates the parking route, using the minimum turning radius. The minimum turning radius is set larger than the minimum value of a turning radius unique to the vehicle.

Parking assist device

A route information storage function having decreased data storage requirements is provided in a vehicle controller that includes a processor, a first storage unit, and a second storage unit and that stores route information indicating a route to a target point. The vehicle controller includes a traveling state acquiring unit that acquires route information on a vehicle, a short-term storage information processing unit that stores the route information in the first storage unit, as short-term storage information, the route information being acquired by the traveling state acquiring unit while the vehicle is traveling, and a long-term storage information processing unit that after the vehicle has reached the target point, determines long-term storage information from short-term storage information stored in the first storage unit, the long-term storage information processing unit storing the determined long-term storage information in the second storage unit.

Vehicle controller

The present invention prevents occurrence of abnormal noise and swing of a vehicle in mitigating braking force of a steered wheel while reducing a steering load at the time of stationary steering to reduce a burden of a steering device and reducing stress accumulation due to stationary steering to reduce burdens of a tire, a suspension device and the steering device. The present invention includes a stop braking force control unitthat individually controls braking forces of steered wheelsandand non-steered wheelsandat the time of deceleration of the vehicle, and a pre-detection unitthat detects steering in a stopped state of the vehicle in advance, in which the stop braking force control unit executes, when the steering in a stopped state of the vehicle is detected in advance by the pre-detection unit, braking force mitigation control to decrease the braking forces of the steered wheels to be lower than the braking forces at the time of normal braking.

Vehicle braking force control device

In the invention, in automatic parking, a route from a parking start position to a target parking position is calculated prior to the start of parking. However, there are cases where an external environment recognition device cannot detect an obstacle at a distant or blind spot. In such a case, smooth parking is hindered when the vehicle is actually automatically parked. In the invention, in Step Sthe vehicle is virtually moved from a parking start positionin the direction of a turning position, and a turning positionis calculated on a parking routeIn Step Sa preliminary route to a target parking positionwhen the vehicle is turned back at the turning positionis calculated. In the next Step Sit is determined whether the preliminary route can be generated, and when the preliminary route satisfies a predetermined condition, the route calculated by a candidate route calculation unitis adopted as an automatic parking route.

Parking assistance device

Unfortunately, even when a new area, which cannot be recognized from the parking start position, is detected in the surrounding area as the vehicle travels on the parking route, the new area cannot be used effectively as the parking route. In step S, when there is an area for extending the parking route in the newly detected area, the route is determined to be extensible. In step S, it is determined whether the vehicle can be parked with one turnabout without extending the route, and when it is determined that the vehicle cannot be parked with one turnabout, the process proceeds to step Sto perform the route extension process. When the posture of the vehicle at the turning point does not exceed a predetermined value in step S, the process also proceeds to step S. In step S, route information for extending the parking route from the turning point in the route information toward the newly detected available area is generated based on the route information output in step S, the surrounding area information and the own-vehicle position information output in step S

When one sensors fails and thus malfunctions during automatic parking of a vehicle, only the other sensor functions. Accordingly, depending on the behavior of the vehicle, the detection characteristics of the other sensor cause degradation in recognition of the vehicle, hindering the automatic parking from being continued. In processing S, a determination is made whether or not an external recognition device, such as a camera or sonar, malfunctions. In processing S, based on the determination on malfunction of the external recognition device, a determination is made whether or not to restrict vehicle speed or to restrict a path, with reference to restriction information for parking control. The restriction information for parking control provides information for restricting the vehicle speed in accordance with the malfunction of the camera, and for restricting the path in accordance with the malfunction of the sonar. Next, in processing S, a determination is made whether or not the automatic parking is in progress. When the automatic parking is in progress, the process proceeds to processing Swhere vehicle speed control or the like is performed for the automatic parking in accordance with the malfunction of the external recognition device.

Parking assistance apparatus

Provided is a parking assistance device capable of reducing inconvenience felt by a driver experienced in automatic parking control during parking at a target vehicle speed corrected to a lower speed at a start of use of automatic parking control, for example. The parking assistance device controls a vehicle speed of the vehicle during parking to assist parking of the vehicle. The parking assistance device increases the vehicle speed of the vehicle during parking in accordance with a behavior during parking or from previous parking of the vehicle.

An automatic parking control device is capable of causing a vehicle to correctly reach the next frame without relying on normal parking route regeneration when a determination is made that the vehicle cannot reach the next frame under automatic parking vehicle control along a section route constituting a part of a parking route. When a determination is made whether the next frame is located on an extension of the current section route and the determination result shows that the next frame is located on the extension, the host vehicle travels further. When the determination is made whether the next frame is located on a remaining section of the current section route and the determination result shows that the next frame is located on the remaining section, the host vehicle decelerates earlier, thereby allowing the host vehicle to reach and come to a stop at the next frame.

Automatic parking control device

Provided is a knocking detection apparatus capable of reducing erroneous determination of knocking during transition, and improving knocking detection accuracy regardless of whether an engine is in steady operation or transient operation. A knocking detection apparatus according to the present invention estimates a background level based on an operating state of an internal combustion engine, and calculates a knocking determination index by using the estimated value.

Knocking detection apparatus and internal combustion engine control apparatus

There is proposed a gearshift control device which can reduce a transmission load due to preshift, and improve fuel efficiency of a vehicle. A gearshift control device which controls a transmissionincluding two systems of power transmission mechanisms, and preshifts the transmissionbased on a traveling plan during automatic driving of a vehicle. The gearshift control device makes automatic driving preshift execution decision of planning control contents of the transmissionbased on the traveling plan, and preshift execution decision of deciding whether or not to preshift the transmission based on a control plan of the transmission

Transmission control device

The present invention enhances estimation accuracy of a travel distance to estimate a position of a host vehicle. A vehicle control deviceincludes front and rear camerasandand a measurement control unit. The front and rear camerasandare provided at front and rear of a vehicleto acquire information on an external world. The measurement control unitcalculate a travel distance of the vehicleduring traveling of the vehiclein a predetermined driving state based on the information of an identical characteristic objectacquired by the front cameraand the rear camera, the rear cameraacquiring the information of the identical characteristic objectafter the front cameraacquires the information.

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Hitachinaka, Japan

Masashi Seimiya