Fuji Jukogyo Kabushiki Kaisha

Subaru Corporation

Shiro Ezoe

Hajime Oyama

Koji Matsuno

Masato Mizoguchi

Harunobu Horiguchi

Takayuki Nagase

Yasushi Takaso

Satoru Akiyama

Eiichi Shiraishi

Osamu Takahashi

Masaru Kogure

Shinji Matsushita

Fumiyuki Moriya

Osamu Saito

Akihiro Watanabe

Takumi Hoshi

Tatsuhiro Kubo

Takeshi Terazawa

Hideaki Hatakenaka

Yuichirou Tamura

A vehicle control system is provided with a motor generator and has a function of, if a vehicle-stop brake fluid pressure at a vehicle stop timing is less a predetermined pressure necessary for holding a vehicle in a stopped state, boosting the vehicle-stop brake fluid pressure to the stop holding fluid pressure or greater to hold the vehicle in the stopped state. The system includes a first calculator, a second calculator, and a vehicle stop controller. The first calculator calculates a target driving force for the vehicle. The second calculator calculates, from the target driving force, a requested driving force for drive control of the motor generator and a requested brake fluid pressure to be used for brake control. The vehicle stop controller performs, at a timing immediately before the vehicle stop timing, a pre-boosting process of increasing the brake fluid pressure to the stop holding fluid pressure or greater.

Vehicle control system

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 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 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.

When a vehicle equipped with a driving support apparatus moves from an original traveling lane into a lane for passing in order to pass a preceding vehicle and an oncoming vehicle appears in the lane for passing, the safe passing of the preceding vehicle is determined to be impossible and the passing is interrupted even when the oncoming vehicle decelerates, in the case where a deceleration change amount of the oncoming vehicle is smaller than a threshold. On the other hand, when the deceleration change amount of the oncoming vehicle is equal to or greater than the threshold, whereby safety with respect to surrounding vehicles can be confirmed, and it is determined the vehicle can be safely returned in front of the preceding vehicle, the passing of the preceding vehicle is performed.

Driving support apparatus for vehicle

When an oncoming vehicle in an oncoming lane is detected in the case where a vehicle equipped with a driving support apparatus moves to a position across a portion of a boundary between an original traveling lane of the vehicle and the oncoming lane in order to pass a preceding vehicle, passing control is interrupted. When the departure of the oncoming vehicle from the oncoming lane is confirmed, the interruption of the passing control is canceled and the passing is performed. When the oncoming vehicle does not depart, or when it the oncoming vehicle is determined to depart but a vehicle following the oncoming vehicle is detected, the interruption of the passing control is maintained and the vehicle is returned to behind the preceding vehicle in the original traveling lane.

During a self-driving control, when an acquisition failure occurs in traveling environment information acquisition required for performing self-driving, and a failure of a steering system of a vehicle equipped with the vehicle driving control apparatus is detected, a brake controller sets an evacuation course along which the vehicle is to travel safely within traveling environment, based on traveling environment information detected last time before the acquisition failure of the traveling environment information, and executes a deceleration of the vehicle and a yaw brake control that applies a yaw moment to the vehicle based on the evacuation course.

Driving control apparatus for vehicle

A basic assist torque is set on the basis of the vehicle speed and the steering torque, and when the vehicle changes from a straight driving state to a curve driving state, a correction amount for the basic assist torque is calculated, which is to offset steering torque characteristic values which has been predetermined depending on a steering angle, in a direction opposite to the steering direction by correcting an absolute value of the basic assist torque to reduce its action on the steering direction depending at least upon the curvature radius of the driving road in front of the vehicle, and the basic assist torque is corrected with the basic assist torque correction amount and the controlled/corrected torque (assist torque) is output to a motor drive unit.

Power steering controller for vehicle

When there is a curve in a forward driving path of a vehicle, a wheel clutch for a turning outer wheel of a rear shaft is engaged and a wheel clutch for a turning inner wheel of the rear shaft is disengaged during driving of the curve. When there is no curve, both of the right and left wheel clutches are engaged when it is estimated the vehicle receive a predetermined disturbance input during forward driving. Then, a target yaw moment of a vehicle is calculated. If an average speed of the right and left wheels of a front shaft is more than the speed of the turning outer wheel, the wheel clutch for the turning outer wheel is engaged when the target yaw moment is applied to the vehicle, so that the engaging force of a transfer clutch is controlled based on the target yaw moment.

Control device for four-wheel drive vehicle

A steering control section has a first steering angle correction amount calculating section, a second steering angle correction amount calculating section, and a motor rotational angle calculating section. The first correction amount calculating section calculates a first correction amount based on a vehicle speed and an actual steering wheel angle. The second correction amount calculating section calculates a second correction amount through multiplying a control gain corresponding to the vehicle speed with a value calculated by low-pass filtering a differential value of steering wheel angle. The motor rotational angle calculating section calculates a motor rotational angle corresponding to the value adding the first and second steering angle correction amount, and outputs it to a motor driving section so as to drive an electric motor for correcting the steering angle. Thereby, an unstable vehicle behavior due to a resonance of a yaw motion caused in the steering operation can be suppressed.

Steering control system for vehicle

A brake apparatus () for a vehicle, having: a pedal box () which is provided on a partition panel () extending in approximately upward and downward directions and which pivotally supports the brake pedal (). An electric motor () of a power steering apparatus is arranged at a position where the electric motor makes contact with the brake pedal () moving backward at a time of a front collision of the vehicle, to receive a load from the brake pedal () by the electric motor ().

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Tokyo, Japan

Shiro Ezoe