Toyota Jidosha Kabushiki Kaisha

Aisin Seiki Kabushiki Kaisha

Advics Co., Ltd.

Denso Corporation

Shogi Fukukawa

Hironobu Ishijima

Motonari Obayashi

Takatomo Asai

Kiyoshi Takahashi

Kazuki Miyake

Masaya Kato

Motokatsu Tomozawa

Hiroyuki Tachibana

Akitsugu Sakai

Yuichi Mizutani

Nobuyuki Itoh

Norio Imai

Tomohisa Yamashita

Shunsuke Arakawa

Michihiro Otsubo

Masayuki Asano

Tsuyoshi Hoshino

A vehicle motion controller includes a feedback controlling unit that executes feedback control in which a difference between a target acceleration corresponding to a request value and an actual acceleration of a vehicle is an input, thereby calculating a control amount used to reduce the difference, a request outputting unit that calculates a request longitudinal force based on the control amount and outputs the request longitudinal force to the driving and braking devices, the request longitudinal force controlling the driving and braking devices, and a determining unit that, in a case where a driver of the vehicle is operating a braking operation member, obtains a braking command value and determines that operation interference by the driver has occurred when the braking command value is less than the request value. The feedback controlling unit prohibits the control amount from increasing in a case where the operation interference has occurred.

Vehicle motion controller

A travel controller executes a first correction process on a request value when the vehicle is traveling on an uphill road, and executes a second correction process on the request value when the vehicle is traveling on a downhill road. The first correction process corrects the request value such that the traveling speed is higher than that in a case in which the first correction process is not executed. The second correction process corrects the request value such that the traveling speed is lower than that in a case in which the second correction process is not executed. If hard braking of the vehicle is requested during execution of the first correction process, the travel controller sets a correction amount of the request value to a lower value than that in a case in which hard braking of the vehicle is not requested.

Vehicle controller and vehicle control method

A control device installed in a vehicle, the control device including one or more processors configured to: accept a plurality of first requests from a driver assistance system; perform arbitration of the first requests; calculate a second request that is a physical quantity that is different from the first requests, based on an arbitration result from the arbitration; calculate a third request that is the same physical quantity as the second request, based on a value realized by the vehicle and the first request; and distribute the second request and the third request to at least one of a plurality of actuator systems, wherein the one or more processors are configured to restrict calculation of the third request based on a predetermined condition.

Control device, control method, storage medium, manager, and vehicle

A vehicle controller sets an upper limit request value related to an upper limit of a longitudinal acceleration of a vehicle, a lower limit request value related to a lower limit of the longitudinal acceleration, and an acceleration request value related to the longitudinal acceleration that corresponds to an amount of the operation of the vehicle. The vehicle controller sets a first arbitration request value to a greater one of the lower limit request value and the acceleration request value. The vehicle controller sets a second arbitration request value to a smaller one of the first arbitration request value and the upper limit request value. The vehicle controller sets, to a value that corresponds to the second arbitration request value, a command value sent to an actuator that operates to adjust the traveling speed.

A manager includes one or more processors. The one or more processors are configured to receive a plurality of first kinematic plans from a plurality of electronic control units in each of which is implemented an advanced driver assistance system application function, receive a second kinematic plan following at least one of the first kinematic plans, arbitrate the first kinematic plans, calculate one or more motion requests based on an arbitration result, and output the one or more motion requests to one or more actuator systems.

Manager, vehicle control method, non-transitory storage medium, and vehicle

A control device installed in a vehicle comprising an electronic control unit configured to: accept a plurality of first requests from a driving assistance system; arbitrate the first requests; calculate a second request that is a physical amount that differs from the first requests based on a result of arbitration in which the first requests are arbitrated; and distribute the second request to at least one of a plurality of actuator systems, wherein the electronic control unit is configured to, when there is the first request requesting a driving force exceeding a first driving force necessary for recovery from a fuel cut state, perform arbitration such that an actual driving force generated by the vehicle is no greater than the first driving force, until reaching a driving force lower limit realizable by a powertrain actuator included in the actuator system at a current gear ratio.

Control device for vehicle, control method, non-transitory computer-readable storage medium, manager, and vehicle

A driving assistance device including a steering control unit that, when a steering angle of a wheel of the vehicle from a first steering angle on one side of a neutral position to a second steering angle on the other side and the state of a vehicle is switched from a first state that is an advancing state or a reversing state to a second state that is the other of the advancing state or the reversing state, controls the steering angle so as to cause the steering angle to start to be directed from the first steering angle toward the second steering angle before the state of the vehicle becomes the second state and to be directed from a third steering angle in between the first steering angle and the second steering angle toward the second steering angle when the state of the vehicle is the second state.

Driving assistance device

A parking assistance device according to an embodiment includes a determination unit that determines, when the parallel parking of a vehicle in a parking area is assisted, whether the parking space length of a frontage that the vehicle enters in the parking area is the sum of the full length of the vehicle and a certain length or more and a control unit that performs parking assistance for the vehicle along a route in which stationary steering control is not performed at a turning position of the vehicle when the parking space length is the sum of the full length of the vehicle and the certain length or more.

Parking assistance device and parking assistance method

A vehicle control device according to an embodiment includes: a steering controller configured to control steering of a vehicle; and a controller configured to, when the vehicle is located at a first position on a travel route, instruct the steering controller to control the vehicle at a steering angle corresponding to a second position that is an advanced position from the first position in a traveling direction on the travel route.

Vehicle control device

A vehicle position detecting device includes an ECU that acquires a wheel speed of a wheel of a vehicle corresponding to rotation of the wheel, detects a skid of the wheel, calculates, when the skid is not detected, a vehicle body speed corresponding to the speed of a vehicle body of the vehicle based on the wheel speed, and corrects, in response to detection of the skid, the wheel speed based on correction information and calculates the vehicle body speed based on the corrected wheel speed. The ECU further calculates the position of the vehicle based on the vehicle body speed depending on the presence of the skid.

Vehicle position detecting device

A parking assistance device includes: a setting unit that sets a movement route of a vehicle with an electric power steering when parking assistance is activated in the vehicle; a generation unit that generates control data equivalent to a changed steering angle curve which has taken into consideration a response delay between the output steering angle of the electric power steering and an actual tire angle in advance, based on the set movement route; and a control unit that controls the electric power steering based on the control data.

Parking assistance device, parking assistance method, and non-transitory computer readable medium storing program

A control system for a vehicle includes a steering control unit and an electronic control unit. The steering control unit is configured to control a steering angle of a wheel of the vehicle. The electronic control unit is configured to acquire a target steering angle set as a target to move the vehicle, adjust the acquired target steering angle such that the target steering angle does not exceed a first guard value determined in order to inhibit a change in the steering angle of the vehicle, larger than or equal to a first reference, output the adjusted target steering angle to the steering control unit in order for the steering control unit to control the steering angle to the adjusted target steering angle, and change the first guard value in response to a situation of the vehicle.

Control system for vehicle

A park exit assist system includes an electronic control unit. The electronic control unit is configured to, at a time of assisting in moving a vehicle parallel parked in a parking area out of the parking area, set an imaginary line at a boundary at a predetermined position on a side in a direction, which is opposite to a direction in which the vehicle is moved out of the parking area, on the basis of a position of the vehicle at a start of assisting in moving the vehicle out of the parking area, set an area beyond the imaginary line for a no-entry area, and execute control for assisting in moving the vehicle out of the parking area such that the vehicle does not enter the no-entry area.

Growing community of inventors

Nagoya, Japan

Shogi Fukukawa