Mitsubishi Electric Corporation

Mitsubishi Denki Kabushiki Kaisha

Nidec Copal Corporation

Fuji Jukogyo Kabushiki Kaisha

Access Company, Ltd.

Mitsubishi Electronic Corporation

Masaya Endo

Kenji Ogawa

Masahiko Kurishige

Taizo Toda

Isao Kezobo

Takayuki Kifuku

Hiroaki Kitano

Hidetoshi Ikeda

Noriyuki Inoue

Yoshihiko Kimpara

Yasuyoshi Hori

Tomoki Uno

Takahiro Urabe

Kenta Tominaga

Yukiyasu Akemi

Hajime Oyama

Toshihide Satake

Yoshihiko Kinpara

Masaki Matsushita

Yoshihide Tonogai

Shota Kameoka

Michimasa Uematsu

Theerawat Limpibunterng

Tetsuharu Hamada

Hiroyuki Kobayashi

Hideyuki Tanaka

Takayuki Tanaka

Seiji Sawada

Tsutomu Matsubara

Reiko Sakata

Kohei Mori

Takashi Iwasaki

Satoru Ishikawa

Yoshiki Ono

Yu Takeuchi

Munenori Yamamoto

Shunsuke Nakajima

Takehiko Fujioka

Kunio Ueda

Hiroyuki Kozuki

Jiro Okada

Hideki Doi

Kazuo Hitosugi

Michihiro Ogata

Yuko Omagari

Yoshimichi Umeki

Yuhei Tsukahara

Hiroya Natsuhara

Rei Yoshino

Kouhei Mori

Michitoshi Azuma

Mineo Higuchi

Jumpei Kamiya

To provide a travel route generation apparatus and a travel route generation method which can generate a travel route for changing lanes with good accuracy using the newest lane marking information obtained during lane change. A travel route generation apparatus and a travel route generation method, during lane change of the own vehicle, determines whether or not the lane marking information of each lane marking is effective lane marking information which can be used for generation of a lane change travel route which is a travel route for changing lanes; selects a reference lane marking from the lane marking on the left side and the lane marking on the right side of an own lane, based on an effectiveness determination result; and generates a lane change travel route, based on the lane marking information of the reference lane marking.

Traveling route generation apparatus and traveling route generation method

This vehicle relative-position calculation device includes: a vehicle state information acquisition unit for acquiring state information of an own vehicle during traveling; a surrounding object information acquisition unit for acquiring information of a surrounding object around the own vehicle; a relative-position information conversion input unit to which relative-position information determined from the state information of the own vehicle and the information of the surrounding object, is inputted, and which converts the inputted relative-position information to relative-position information for which a specific position on the own vehicle is set as an origin; a position information storage unit which stores the relative-position information converted and a vehicle-fixed coordinate conversion unit to which the state information of the own vehicle acquired, is inputted, and which converts the relative-position information stored in the position information storage unit to present-time relative-position information, and outputs the present-time relative-position information to the position information storage unit.

Vehicle control device including vehicle relative position calculation device

To provide a vehicle position processing apparatus, a vehicle control apparatus, a vehicle position processing method, and a vehicle control method capable of increasing the number of the position information of front object used for generation of the trajectory and improving the generation accuracy of the trajectory. A vehicle position processing apparatus, a vehicle control apparatus, a vehicle position processing method, and a vehicle control method that obtains positions of a target object, sets a trajectory generation range which is a continuous range including a position of the target object close to a position of the present own vehicle, selects positions of the target object included in the trajectory generation range among the plural positions of the target object, as target object positions for trajectory generation, and generates a trajectory of the target object based on the target object positions for trajectory generation.

Vehicle control apparatus and vehicle control method

A steering control device is provided with at least one of a first torque correction computing part and a second torque correction computing part; wherein the first torque correction computing part is equipped with a weight computing part which computes an increment of weight based on a magnitude of the driver torque, and accumulates the increment of weight to generate a weight, a clip value computing part which computes an automatic driver torque clip value according to the weight, and a clip processing part which clip processes the automatic driver torque with the automatic driver torque clip value; and the second torque correction computing part is equipped with a gain computing part which computes an increment of gain according to the driver torque, and accumulates the increment of gain to generate a gain, and a gain processing part which outputs an automatic driver torque multiplied by the gain.

Steering control device

In a target track generation apparatus, a subject vehicle reference preceding vehicle position calculator calculates a point group of subject vehicle reference preceding vehicle positions representing a history of a relative position of a preceding vehicle in a coordinate system using a current position of a subject vehicle as a reference. A target track generator generates a target track of the subject vehicle, based on the point group of the subject vehicle reference preceding vehicle positions. A correction target track generator generates a correction target track obtained by correcting the target track, based on the point group of the subject vehicle reference preceding vehicle positions or the target track, when it is determined that correction of the target track is necessary.

Target track generation apparatus, vehicle control apparatus, target track generation method, and vehicle control method

A steering control device includes a transverse gradient estimator configured to estimate a transverse gradient of a road surface on which a vehicle travels; an assisting amount calculator configured to calculate a first assisting amount based on the transverse gradient; a low pass filter configured to perform a low pass filter processing for the first assisting amount, and output the processed first assisting amount subjected to the low pass filter processing, as a second assisting amount; and a motor controller configured to control a motor that generates a steering assist torque, using the second assisting amount. The low pass filter switches a cut-off frequency of the low pass filter between a first cut-off frequency and a second cut-off frequency that is set to a value higher than the first cut-off frequency, depending on whether the second assisting amount increases with time or the second assisting amount decreases with time.

Provided is an obstacle avoidance apparatus that can specify a distance between a subject vehicle and an obstacle when making the subject vehicle avoid the obstacle. An obstacle avoidance apparatus includes: an obstacle movement predictor that predicts movement of the obstacle; and a constraint generator that establishes a constraint on a state quantity or a control input of the subject vehicle by determining whether to steer right or left around the obstacle and defining a no-entry zone for preventing the subject vehicle from colliding with the obstacle. The constraint generator incorporates, into the no-entry zone, an area to the left of the obstacle when determining to steer right around the obstacle, and incorporates, into the no-entry zone, an area to the right of the obstacle when determining to steer left around the obstacle.

Obstacle avoidance apparatus and obstacle avoidance route generating apparatus

Provided is a moving object detector capable of acquiring a position history of a moving object that is less affected by the behavior of a subject vehicle. In a moving object detector, a moving-object relative position acquiring unit acquires position coordinates of a moving object expressed in a subject-vehicle-based coordinate system that is based on the position of a subject vehicle. A subject-vehicle state quantity acquiring unit acquires the state quantity of the subject vehicle. A coordinate converter generates a history of position coordinates of the moving object expressed in a moving-object-based coordinate system that is based on the position of the moving object, on the basis of the position coordinates of the moving object expressed in the subject-vehicle-based coordinate system, and the state quantity of the subject vehicle.

Moving object detector, vehicle control system, method for detecting moving object, and method for controlling vehicle

Provided is a collision avoidance apparatus that can avoid a collision through both steering and braking. In a collision avoidance apparatus, a no-entry zone defining unit defines a no-entry zone for preventing a subject vehicle from colliding with an obstacle around the subject vehicle, based on obstacle information including information on a position of the obstacle and based on lane information that is information on a traveling lane of the subject vehicle. A following determination unit determines whether the obstacle is an avoidance target or a following target, based on the position of the obstacle or a position of the no-entry zone. A constraint establishing unit establishes a constraint on a state quantity or a control input of the subject vehicle to prevent the subject vehicle from at least entering the no-entry zone.

Collision avoidance apparatus

An automatic steering control apparatus includes a target-path acquisition unit that acquires a target path that is to be a traveling path of the vehicle, a target-rudder-angle acquisition unit that acquires a target rudder angle that is to be a rudder angle in the vehicle, on the basis of the target path, a sideslip-angle estimation unit that estimates a sideslip angle in the vehicle that is traveling at the target rudder angle, on the basis of the target rudder angle and a vehicle condition of the vehicle, and an automatic steering control unit. The automatic steering control unit performs at least one of stopping of automatic steering control and controlling of a steering-quantity regulation gain for regulating the target rudder angle, when the estimated sideslip angle is equal to or greater than a predetermined value.

Automatic steering control apparatus and automatic steering control method

A travel direction estimation device mounted on a vehicle including a position detector and an angular velocity detector to estimate a travel direction of the vehicle includes: a first angle processor calculating a first angle based on a change of a position of the vehicle being detected in the position detector and updated at a predetermined time interval, a second angle processor calculating a second angle based on a rotational angular velocity of the vehicle being detected in the angular velocity detector and a detection interval of the position of the vehicle in the position detector, and a travel direction processor calculating the travel direction of the vehicle based on the first angle and the second angle. The travel direction estimation device can estimate a travel direction of a vehicle with a high degree of accuracy.

Travel direction estimation device

Based on the result of determination by a friction transition state determination unit, an assist command value correction unit corrects a basic assist command value in such a way that the hysteresis width of steering torque at a time of turning steering increases; then, a current driving unit controls a motor current in such a way that the motor current coincides with a current command value obtained by correcting the basic assist command value by use of an assist command correction value.

Steering control apparatus

When an adjustment information input unit () acquires one of information of a feeling value and steering control information, a steering control information calculation unit () calculates data of a control characteristic graph visually representing control characteristics of steering using the acquired information. An adjustment information display unit () displays, on the same screen, a control characteristic graph in accordance with the data of the control characteristic graph and a feeling value operation section visually showing the feeling value.

Power steering adjustment device

A steering control device capable of causing a steering torque to follow a target steering torque when a driver holds a steering wheel for steering, and making an adjustment so that the steering wheel returns to a neutral position at an appropriate speed, when the driver releases his or her hands from the steering wheel. A motor is controlled based on a motor steering assist torque, which is a sum of a first steering assist torque, which is proportional to an integral value of a deviation between the target steering torque and the steering torque, and a second steering assist torque, which is proportional to a motor rotational angular velocity and acting in a direction of suppressing a return speed of the steering wheel when the steering wheel returns to the neutral position.

Steering control device and steering-assisting torque control method thereof

Provided are a vehicle steering device and the like, which are capable of converging a lateral displacement at a forward gazing-point distance to a target travel line with simple control. A target travel line for a vehicle to travel by following a travel path recognized from an image taken by a camera or the like is set. A lateral speed, which is a change amount of the lateral displacement that is a difference between a position of the target travel line at the forward gazing-point distance and a position of the vehicle, is controlled so that the lateral displacement is reduced. A target steering angle is calculated based on the lateral speed, and a steering angle of the vehicle is controlled based on the calculated target steering angle.

Vehicle steering device and vehicle steering control method with reduced lateral speed

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Tokyo, Japan

Masaya Endo