Hitachi Astemo Ltd.

Hitachi, Ltd.

Tokyo Metropolitan Institute of Medical Science

Shinya Kasai

Masato Imai

Junya Takahashi

Kazutaka Ikeda

Masashi Seimiya

Naoyuki Tashiro

Kenta Maeda

Takashi Tsutsui

Go Sakayori

Kotaro Shiino

Masakazu Hayashida

Susumu Higuchi

A vehicle control device includes a route processor that generates a route from a current location position to a target position. The target position remains constant. The vehicle control device further includes a steering pattern processor that generates a target steering angle, which is a target value of a steering angle for the route, and outputs steering angle information indicating the generated target steering angle. The vehicle control device further includes a steering angle processor that corrects the steering angle information such that a transition curve section of the route includes a steering angle increasing section where the steering angle is below the target steering angle and a steering angle decreasing section where the steering angle exceeds the target steering angle. The vehicle control device further includes a steering controller that performs steering control based on the steering angle information corrected by the steering angle processor.

Vehicle 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

An object of the present invention is to provide a steering control device capable of reducing a steering amount while securing operability of a driver according to a traveling condition. A steering control deviceforming a steer-by-wire system, which has no physical connection between a steering shaft by a driver and an actual steered angle of a vehicle wheel, the steering control device including an actual steered angle calculation unitthat determines the actual steered angle based on a steering angle and a steering torque generated on the steering shaft. The actual steered angle calculation unitcontrols the actual steered angle based on the steering torque in a region where the steering angle is equal to or smaller than a predetermined value, and controls the actual steered angle based on a parameter different from the steering torque when the steering angle is larger than the predetermined value or a changed steering torque gain from when the steering angle is smaller than the predetermined value.

Steering 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

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Tokyo, Japan

Shinya Kasai